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

@@ -7,22 +7,15 @@ package frc.robot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.command.GrimperHaut;
-import frc.robot.command.GrimpeurBas;
-import frc.robot.subsystems.Grimpeur;
 
 public class RobotContainer {
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(0);
-  Grimpeur grimpeur = new Grimpeur();
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {
-    manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur));
-    manette1.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
-  }
+  private void configureBindings() {}
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

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

@@ -0,0 +1,53 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 BalayeuseBas extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseBas(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // 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() {
+    if(requin.enBas()==true){
+      requin.rotationer(0);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    if(requin.stop()){
+      requin.balaye(0);
+    }
+    else{
+      requin.balaye(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -2,18 +2,18 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.Requin;
 
 /* 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 GrimperHaut extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new Grimper. */
-  public GrimperHaut(Grimpeur grimpeur) {
-    this.grimpeur = new Grimpeur();
-    addRequirements(grimpeur);
+public class BalayeuseHaut extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseHaut(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,24 +24,23 @@ public class GrimperHaut extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.stop()==true){
-      grimpeur.grimpe(0);
-      grimpeur.reset();
+    if(requin.enHaut()==true){
+      requin.rotationer(0);
     }
     else{
-      grimpeur.grimpe(0.5);
+      requin.rotationer(0.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
+    requin.rotationer(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return grimpeur.stop()==true;
+    return false;
   }
 }

src/main/java/frc/robot/commands/L1.java

@@ -2,18 +2,18 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.Requin;
 
 /* 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;
-  /** Creates a new GrimpeurBas. */
-  public GrimpeurBas(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
+public class L1 extends Command {
+  private Requin requin;
+  /** Creates a new L1. */
+  public L1(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,19 +24,13 @@ public class GrimpeurBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.encodeur()>=500 && grimpeur.encodeur()<=510){
-      grimpeur.grimpe(0);
-    }
-    else if(grimpeur.encodeur()>=510){
-      grimpeur.grimpe(0.5);
-    }
-    grimpeur.grimpe(-0.5);
+    requin.balaye(-0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
+    requin.balaye(.0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/subsystems/Grimpeur.java

@@ -4,29 +4,20 @@
 
 package frc.robot.subsystems;
 
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-
 import edu.wpi.first.wpilibj.DigitalInput;
-
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Grimpeur. */
   public Grimpeur() {}
-  final SparkMax grimpeur = new SparkMax(0,MotorType.kBrushless);
+  final Spark grimpeur = new Spark(0);
   final DigitalInput limit1 = new DigitalInput(0);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);
   }
-  public boolean stop(){
-   return limit1.get();
-  }
-  public double encodeur(){
-  return grimpeur.getEncoder().getPosition();
-  }
-  public void reset(){
-     grimpeur.getEncoder().setPosition(0);
+  final void stop(){
+    limit1.get();
   }
   @Override
   public void periodic() {