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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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42
src/main/java/frc/robot/subsystems/Lanceur.java
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@@ -7,27 +7,37 @@ package frc.robot.subsystems;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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);
public void Lancer(double vitesse){
moteur1.set(vitesse);
moteur2.set(-vitesse);
}
public void Demeler(double vitesse){
Demeleur.set(vitesse);
}
public double Vitesse(){
return moteur1.getEncoder().getVelocity();
}
public double Amp(){
return moteur1.getOutputCurrent();
}
ShuffleboardTab teb = Shuffleboard.getTab("teb");
SparkFlex moteur1 = new SparkFlex(2, MotorType.kBrushless);
SparkFlex moteur2 = new SparkFlex(3, MotorType.kBrushless);
SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
GenericEntry vitesse =
teb.add("vitesse lanceur",100).getEntry();
public void Lancer(double vitesse){
moteur1.set(vitesse);
moteur2.set(-vitesse);
}
public void Demeler(double vitesse){
Demeleur.set(vitesse);
}
public double Vitesse(){
return moteur1.getEncoder().getVelocity();
}
public double Amp(){
return moteur1.getOutputCurrent();
}
public double vitesseDemander(){
return vitesse.getDouble(100);
}
/** Creates a new Lanceur. */
public Lanceur() {
teb.addDouble("amperage lanceur", this::Amp);
}
@Override