57 lines
1.7 KiB
Java
57 lines
1.7 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems;
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import com.revrobotics.spark.SparkFlex;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import com.revrobotics.spark.SparkMax;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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public class Lanceur extends SubsystemBase {
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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SparkFlex moteur1 = new SparkFlex(15, MotorType.kBrushless);
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SparkFlex moteur2 = new SparkFlex(18, MotorType.kBrushless);
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SparkMax Demeleur = new SparkMax(19, MotorType.kBrushless);
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GenericEntry vitesse =
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teb.add("vitesse lanceur",4000).getEntry();
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GenericEntry AmpLanceur =
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teb.add("ampérage lanceur",30).getEntry();
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public void Lancer(double vitesse){
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moteur1.set(vitesse);
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moteur2.set(vitesse);
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}
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public void Demeler(double vitesse){
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Demeleur.set(vitesse);
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}
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public double Vitesse(){
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return moteur1.getEncoder().getVelocity();
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}
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public double Amp(){
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return moteur1.getOutputCurrent();
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}
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public double AmpBas(){
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return AmpLanceur.getDouble(30);
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}
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public double vitesseDemander(){
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return vitesse.getDouble(4000);
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}
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/** Creates a new Lanceur. */
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public Lanceur() {
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teb.addDouble("amperage lanceur", this::Amp);
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teb.addDouble("vitesse actuelle",this::Vitesse);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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