31 lines
881 B
Java
31 lines
881 B
Java
package frc.robot.subsystems;
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import java.util.function.DoubleSupplier;
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import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
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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.ShooterConstants;
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public class Shooter extends SubsystemBase{
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private VictorSP motor1;
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private VictorSP motor2; //makes the motors varables
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public Shooter() {
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motor1 = new VictorSP(ShooterConstants.K1motorPWM);
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motor2 = new VictorSP(ShooterConstants.K2motorPWM);
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motor1.addFollower(motor2); //sets motors
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}
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public Command setSpeed(DoubleSupplier speed) {
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return run(() -> {
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motor1.set(speed.getAsDouble());
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}); //sets the motors speed
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}
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public Command stop() {
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return setSpeed(() -> 0);
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}
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} //stops the motors
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