52 lines
1.7 KiB
Java
52 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.SparkMax;
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import com.revrobotics.spark.config.SparkMaxConfig;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj.DigitalInput;
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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 Grimpeur extends SubsystemBase {
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
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SparkMax grimpeur2 = new SparkMax(4,MotorType.kBrushless);
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SparkMaxConfig slaveConfig = new SparkMaxConfig();
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DigitalInput limit = new DigitalInput(0);
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private GenericEntry EncodeurGrimpeur =
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teb.add("Position haut grimpeur", 10).getEntry();
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public void Grimper(double vitesse){
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grimpeur1.set(vitesse);
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grimpeur2.set(vitesse);
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}
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public double Position(){
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return grimpeur1.getEncoder().getPosition();
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}
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public void Reset(){
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grimpeur1.getEncoder().setPosition(0);
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}
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public boolean Limit(){
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return limit.get();
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}
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public double PositionFinal(){
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return EncodeurGrimpeur.getDouble(10);
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}
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/** Creates a new Grimpeur. */
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public Grimpeur() {
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teb.addDouble("encodeur grimpeur", this::Position);
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teb.addBoolean("limit grimpeur", this::Limit);
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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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