From 39f4c3f833ec119a0060cb833c7a1953bca76eef Mon Sep 17 00:00:00 2001 From: kartofen Date: Sun, 3 Mar 2024 23:20:11 +0200 Subject: more subsystems --- src/main/java/frc/robot/subsystems/Shooter.java | 33 +++++++++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 src/main/java/frc/robot/subsystems/Shooter.java (limited to 'src/main/java/frc/robot/subsystems/Shooter.java') diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java new file mode 100644 index 0000000..f171049 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Shooter.java @@ -0,0 +1,33 @@ +package frc.robot.subsystems; + +import org.littletonrobotics.junction.Logger; +import com.revrobotics.CANSparkMax; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; + +public class Shooter extends SubsystemBase +{ + private final CANSparkMax m_shooterT = Constants.shooterT; + private final CANSparkMax m_shooterD = Constants.shooterD; + + public Shooter() { } + + public void atPercentage(double perc) + { + atPercentage(perc, perc); + } + + public void atPercentage(double upPerc, double downPerc) + { + m_shooterT.set(upPerc); + m_shooterD.set(downPerc); + } + + @Override + public void periodic() + { + Logger.recordOutput(getName() + "/speedT", m_shooterT.getEncoder().getVelocity()); + Logger.recordOutput(getName() + "/speedD", m_shooterD.getEncoder().getVelocity()); + } +} -- cgit v1.2.3