Module fini

src/main/java/frc/robot/subsystems/Balayeuse.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Balayeuse extends SubsystemBase {
+  SparkFlex Balaye = new SparkFlex(5, MotorType.kBrushless);
+  SparkMax Pivot = new SparkMax(6, MotorType.kBrushless);
+  DigitalInput limit = new DigitalInput(0);
+  public void Balayer(double vitesse){
+    Balaye.set(vitesse);
+  }
+  public void Pivoter(double vitesse){
+    Pivot.set(vitesse);
+  }
+  public double Distance(){
+    return Pivot.getEncoder().getPosition();
+  } 
+  public void Reset(){
+    Pivot.getEncoder().setPosition(0);
+  }
+  public boolean GetLimiSwtich(){
+    return limit.get();
+  }
+  /** Creates a new Balayeuse. */
+  public Balayeuse() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc/robot/subsystems/Grimpeur.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Grimpeur extends SubsystemBase {
+  SparkMax grimpeur1 = new SparkMax(8,MotorType.kBrushless);
+  SparkMax grimpeur2 = new SparkMax(9,MotorType.kBrushless);
+  SparkMaxConfig slaveConfig = new SparkMaxConfig();
+  DigitalInput limit = new DigitalInput(1);
+  public void Grimper(double vitesse){
+    grimpeur1.set(vitesse);
+    slaveConfig.follow(grimpeur1, false);
+    grimpeur2.configure(slaveConfig,null,null);
+  }
+  public double Position(){
+    return grimpeur1.getEncoder().getPosition();
+  }
+  public void Reset(){
+    grimpeur1.getEncoder().setPosition(0);
+  }
+  public boolean Limit(){
+    return limit.get();
+  }
+  /** Creates a new Grimpeur. */
+  public Grimpeur() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc/robot/subsystems/Lanceur.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Lanceur extends SubsystemBase {
+    SparkFlex moteur1 = new SparkFlex(2, MotorType.kBrushless);
+    SparkFlex moteur2 = new SparkFlex(3, MotorType.kBrushless);
+    SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
+    SparkMaxConfig slaveConfig = new SparkMaxConfig();
+    public void Lancer(double vitesse){
+        moteur1.set(vitesse);
+        slaveConfig.follow(moteur1, true);
+        moteur2.configure(slaveConfig,null,null);
+    }
+    public void Demeler(double vitesse){
+      Demeleur.set(vitesse);
+    }
+    public double Vitesse(){
+      return moteur1.getEncoder().getVelocity();
+    }
+  /** Creates a new Lanceur. */
+  public Lanceur() {
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}
+