// 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 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 {
  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
  public void periodic() {
    // This method will be called once per scheduler run
  }
}