code mieux

src/main/java/frc/robot/RobotContainer.java

@@ -20,6 +20,7 @@ import frc.robot.commands.ElevateurManuel;
 import frc.robot.commands.L2;
 import frc.robot.commands.L3;
 import frc.robot.commands.L4;
+import frc.robot.commands.PinceManuel;
 import frc.robot.commands.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
@@ -32,11 +33,15 @@ public class RobotContainer {
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
+  PinceManuel pinceManuel = new PinceManuel(pince, manette2::getRightY);
   public RobotContainer() {
     configureBindings();
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
+    pince.setDefaultCommand(new RunCommand(()->{
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
+    }, pince));
      NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));

src/main/java/frc/robot/commands/L2.java

@@ -5,7 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
+
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 

src/main/java/frc/robot/commands/L3.java

@@ -5,7 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
+
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 

src/main/java/frc/robot/commands/L4.java

@@ -5,7 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
+
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 

src/main/java/frc/robot/commands/PinceManuel.java

@@ -27,7 +27,14 @@ public class PinceManuel extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(pince.position()){
+      pince.pivote(0);
+    }
+    else{
+      pince.pivote(doubleSupplier.getAsDouble());
+    }
+  }
 
   // Called once the command ends or is interrupted.
   @Override