Menage pour mieu se trouver

src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java

@@ -0,0 +1,57 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.grimpeur;
+
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+   NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurgrimpeurbas").subscribe(-39.19);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurgrimpeurhaut ").subscribe(-38.5);
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double encodeurbas = encodeur1.get();
+    double encodeurhaut = encodeur2.get();
+    if(grimpeur.encodeur()>=encodeurhaut && grimpeur.encodeur()<=encodeurbas){
+      grimpeur.grimpe(0);
+    }
+    else if(grimpeur.encodeur()>=encodeurhaut){
+      grimpeur.grimpe(-0.5);
+    }
+   else{grimpeur.grimpe(0.5);
+  } 
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}