code fini

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

@@ -7,18 +7,24 @@ package frc.robot.subsystems;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Grimpeur extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkMax grimpeur1 = new SparkMax(8,MotorType.kBrushless);
   SparkMax grimpeur2 = new SparkMax(9,MotorType.kBrushless);
   SparkMaxConfig slaveConfig = new SparkMaxConfig();
   DigitalInput limit = new DigitalInput(1);
+    private GenericEntry EncodeurGrimpeur =
+  teb.add("Position haut grimpeur", 10).getEntry();
   public void Grimper(double vitesse){
     grimpeur1.set(vitesse);
     grimpeur2.set(vitesse);
-
   }
   public double Position(){
     return grimpeur1.getEncoder().getPosition();
@@ -29,8 +35,14 @@ public class Grimpeur extends SubsystemBase {
   public boolean Limit(){
     return limit.get();
   }
+  public double PositionFinal(){
+    return EncodeurGrimpeur.getDouble(10);
+  }
   /** Creates a new Grimpeur. */
-  public Grimpeur() {}
+  public Grimpeur() {
+    teb.addDouble("encodeur grimpeur", this::Position);
+    teb.addBoolean("limit grimpeur", this::Limit);
+  }
 
   @Override
   public void periodic() {