Module fini

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

@@ -0,0 +1,41 @@
+// 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
+  }
+}