From 4452529be059c5fbe4aaf9190f25cfc734715f01 Mon Sep 17 00:00:00 2001 From: kartofen Date: Thu, 7 Mar 2024 06:05:41 +0200 Subject: orks --- src/main/java/frc/robot/subsystems/Hooks.java | 25 ++++++++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) (limited to 'src/main/java/frc/robot/subsystems/Hooks.java') diff --git a/src/main/java/frc/robot/subsystems/Hooks.java b/src/main/java/frc/robot/subsystems/Hooks.java index eb9c4f7..b6c26c5 100644 --- a/src/main/java/frc/robot/subsystems/Hooks.java +++ b/src/main/java/frc/robot/subsystems/Hooks.java @@ -1,8 +1,31 @@ package frc.robot.subsystems; +import java.lang.constant.Constable; + +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkLowLevel.MotorType; + +import frc.robot.Constants; + + import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Hooks extends SubsystemBase { - + private final CANSparkMax m_hookL = new CANSparkMax(Constants.hookL_ID, MotorType.kBrushed); + private final CANSparkMax m_hookR = new CANSparkMax(Constants.hookR_ID, MotorType.kBrushed); + + public Hooks() + { + // TODO: possibly invert to move forward upon positive votage + // TODO: invert one hook + m_hookL.setInverted(true); + } + + public void atPercentage(double percL, double percR) + { + m_hookL.set(percL); + m_hookR.set(percR); + } + } -- cgit v1.2.3