sdesharnais/Rebuilt-2026
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Samuel
2026-02-23 18:24:29 -05:00
parent 69e790ffd5
commit a3eae79bdd
7 changed files with 66 additions and 32 deletions
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19
src/main/java/frc/robot/subsystems/Balayeuse.java
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@@ -8,16 +8,22 @@ import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Balayeuse extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
SparkFlex Balaye1 = new SparkFlex(5, MotorType.kBrushless);
SparkFlex Balaye2 = new SparkFlex(5, MotorType.kBrushless);
SparkMax Pivot = new SparkMax(6, MotorType.kBrushless);
SparkFlex Balaye2 = new SparkFlex(6, MotorType.kBrushless);
SparkMax Pivot = new SparkMax(7, MotorType.kBrushless);
DigitalInput limit = new DigitalInput(0);
private GenericEntry EncodeurBalayeuse =
teb.add("Position bas balayeuse", 10).getEntry();
public void Balayer(double vitesse){
Balaye1.set(vitesse);
Balaye2.set(vitesse);
@@ -40,10 +46,15 @@ public class Balayeuse extends SubsystemBase {
public void Temps(){
Timer timer = new Timer();
timer.start();
}
public double EncodeurBalayeuse(){
return EncodeurBalayeuse.getDouble(10);
}
/** Creates a new Balayeuse. */
public Balayeuse() {}
public Balayeuse() {
teb.addBoolean("limit balayeuse", this::GetLimiSwtich);
teb.addDouble("encodeur balayeuse", this::Distance);
}
@Override
public void periodic() {