39 lines
1.1 KiB
Java
39 lines
1.1 KiB
Java
// 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.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();
|
|
}
|
|
/** Creates a new Lanceur. */
|
|
public Lanceur() {
|
|
}
|
|
|
|
@Override
|
|
public void periodic() {
|
|
// This method will be called once per scheduler run
|
|
}
|
|
}
|
|
|