Fixed reading + adding test motor

2026-06-09 00:38:05 -06:00 · 2022-03-05 10:09:32 -07:00
parent 5db0596da7
commit a0ccfc3f66
7 changed files with 125 additions and 1 deletions
@@ -0,0 +1,23 @@
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.sensors.CANCoder;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.utility.DesmosServer;
+
+public class TestMotor extends SubsystemBase {
+    private CANSparkMax m_testMotor;
+    private RelativeEncoder m_testEncoder;
+
+    public TestMotor(CANSparkMax testMotor) {
+        m_testMotor = testMotor;
+        m_testEncoder = m_testMotor.getEncoder();
+    }
+
+    public void testDesmos() {
+        DesmosServer.putDecimal("Position", m_testEncoder.getPosition());
+        m_testMotor.set(DesmosServer.readDouble("Speed"));
+    }
+}