From 077494b9fd8ae6c50c7b526c0e45689870d7938c Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Feb 2023 19:55:20 -0500
Subject: [PATCH] Message constuctif

---
 src/main/java/frc/robot/Constants.java        |  8 +++++
 .../java/frc/robot/subsystems/Gratte.java     | 30 ++++++++++++++++++-
 2 files changed, 37 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 426f892..4cf8973 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,9 +5,17 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
+    public static int leverGratte = 0;
+    public static int baisserGratte = 1;
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
+    // DIO
+    public static int limitbd = 0;
+    public static int limitbg = 2;
+    public static int limithd = 3;
+    public static int limithg = 1;
+    
 
 
 
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 5baa6b8..50adfbb 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -4,12 +4,40 @@
 
 package frc.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.fasterxml.jackson.annotation.JacksonInject.Value;
+
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
+  private WPI_TalonSRX baisserGratte = new WPI_TalonSRX(Constants.leverGratte);  
+  private WPI_TalonSRX leverGratte = new WPI_TalonSRX(Constants.baisserGratte);
+  private DigitalInput limithd = new DigitalInput(Constants.limithd);
+  private DigitalInput limithg = new DigitalInput(Constants.limithg);
+  private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
+  private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
+  public boolean hautd(){
+    return limithd.get();
+  }
+  
+  public boolean hautg(){
+    return limithg.get();
+  }
+
+  public boolean basd(){
+    return limitbd.get();
+  }
+  public boolean basg(){
+    return limitbg.get();
+  }
   /** Creates a new Gratte. */
   public Gratte() {}
-
+  public void BaisserLever(double vitesse){
+    baisserGratte.set(vitesse);
+    leverGratte.set(vitesse);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run