26 lines
589 B
Java
26 lines
589 B
Java
package frc.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.constants.ArmConstants;
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public class Arm extends SubsystemBase {
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private WPI_TalonSRX motor;
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public Arm() {
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motor = new WPI_TalonSRX(ArmConstants.kArmMotorID1);
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}
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public Command runArmMotor(double speed) {
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return run(() -> {
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motor.set(speed);
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});
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}
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public Command stop() {
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return run(() -> motor.set(0));
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}
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}
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