changes

1 files changed, 14 insertions, 4 deletions

diff --git a/src/main/java/frc/robot/subsystems/Hooks.java b/src/main/java/frc/robot/subsystems/Hooks.java
index b6c26c5..6e42322 100644
--- a/src/main/java/frc/robot/subsystems/Hooks.java
+++ b/src/main/java/frc/robot/subsystems/Hooks.java
@@ -1,25 +1,29 @@
 package frc.robot.subsystems;
 
-import java.lang.constant.Constable;
+import org.littletonrobotics.junction.Logger;
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import frc.robot.Constants;
-
-
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Hooks extends SubsystemBase 
 {
+    // initial angle 237
     private final CANSparkMax m_hookL = new CANSparkMax(Constants.hookL_ID, MotorType.kBrushed);
     private final CANSparkMax m_hookR = new CANSparkMax(Constants.hookR_ID, MotorType.kBrushed);
 
+    private final Encoder m_hookL_encoder = new Encoder(Constants.hookL_PINS[0], Constants.hookL_PINS[1]);
+    private final Encoder m_hookR_encoder = new Encoder(Constants.hookR_PINS[0], Constants.hookR_PINS[1]);
+    
     public Hooks() 
     { 
         // TODO: possibly invert to move forward upon positive votage
-        // TODO: invert one hook
         m_hookL.setInverted(true);
+        m_hookL_encoder.setReverseDirection(true);
     }
 
     public void atPercentage(double percL, double percR)
@@ -28,4 +32,10 @@ public class Hooks extends SubsystemBase
         m_hookR.set(percR);
     }
 
+    @Override
+    public void periodic()
+    {
+        Logger.recordOutput(getName() + "/encoderL", m_hookL_encoder.getDistance());
+        Logger.recordOutput(getName() + "/encoderR", m_hookR_encoder.getDistance());
+    }
 }