sdesharnais/Rebuilt-2026
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samuel desharnais
2026-04-11 08:16:06 -04:00
parent 7908d4c5df
commit 41f6e4747f
16 changed files with 315 additions and 251 deletions
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44
src/main/java/frc/robot/subsystems/Grimpeur.java
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@@ -4,10 +4,7 @@
package frc.robot.subsystems;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.networktables.GenericEntry;
@@ -18,33 +15,44 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Grimpeur extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
SparkMaxConfig slaveConfig = new SparkMaxConfig();
SparkMax grimpeur1 = new SparkMax(3, MotorType.kBrushless);
SparkMax grimpeur2 = new SparkMax(12, MotorType.kBrushless);
// SparkMaxConfig slaveConfig = new SparkMaxConfig();
DigitalInput limit = new DigitalInput(0);
private GenericEntry EncodeurGrimpeur =
teb.add("Position haut grimpeur", 100).getEntry();
public void Grimper(double vitesse){
grimpeur1.configure(slaveConfig, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
grimpeur2.configure(slaveConfig.follow(grimpeur1), ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
private GenericEntry EncodeurGrimpeur = teb.add("Position haut grimpeur", 100).getEntry();
// public void Grimper(double vitesse){
// grimpeur1.configure(slaveConfig, ResetMode.kNoResetSafeParameters,
// PersistMode.kPersistParameters);
// grimpeur2.configure(slaveConfig.follow(grimpeur1),
// ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
// grimpeur1.set(vitesse);
// }
public void GrimperGauche(double vitesse) {
grimpeur1.set(vitesse);
}
public void GrimperGauche(double vitesse){
grimpeur1.set(vitesse);
public void GrimperDroit(double vitesse) {
grimpeur2.set(vitesse);
}
public double Position(){
public double Position() {
return grimpeur1.getEncoder().getPosition();
}
public void Reset(){
public void Reset() {
grimpeur1.getEncoder().setPosition(0);
}
public boolean Limit(){
public boolean Limit() {
return limit.get();
}
public double PositionFinal(){
public double PositionFinal() {
return EncodeurGrimpeur.getDouble(100);
}
/** Creates a new Grimpeur. */
public Grimpeur() {
teb.addDouble("encodeur grimpeur", this::Position);