limit avec pince manuel

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

@@ -38,7 +38,7 @@ public class RobotContainer {
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
-  PinceManuel pinceManuel = new PinceManuel(pince);
+  PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
   PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
   public RobotContainer() {
     configureBindings();
@@ -66,8 +66,6 @@ public class RobotContainer {
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     //manette2
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
-    manette2.povUp().whileTrue(new PinceManuel(pince));
-    manette2.povDown().whileTrue(new PinceManuel2(pince));
     manette2.a().whileTrue(new CorailAspir(pince));
     manette2.b().whileTrue(new CoralExpire(pince, bougie));
     manette2.povLeft().whileTrue(new Algue1Test(pince));

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

@@ -3,17 +3,19 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
+import java.util.function.DoubleSupplier;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
 
 /* 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 PinceManuel extends Command {
   private Pince pince;
+  private DoubleSupplier x;
   /** Creates a new PinceManuel. */
-  public PinceManuel(Pince pince
-  //, DoubleSupplier doubleSupplier
-  ) {
+  public PinceManuel(Pince pince, DoubleSupplier x) {
     this.pince = pince;
+    this.x = x;
     //this.doubleSupplier = doubleSupplier;
     addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -26,12 +28,12 @@ public class PinceManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // if(pince.position()){
-    //   pince.pivote(0);
-    // }
-    // else{
-      pince.pivote(0.2);
-    // }
+     if(pince.position()){
+       pince.pivote(0);
+     }
+     else{
+      pince.pivote(x.getAsDouble());
+     }
   }
 
   // Called once the command ends or is interrupted.