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+1,3 @@ +Manifest-Version: 1.0 +Main-Class: frc.robot.Main + diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index dc12c60..3800657 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -12,6 +12,7 @@ public class Constants { // pneumatique public static int pistonpinceouvre = 0; public static int pistonpinceferme = 1; + public static int actuateur = 4; // DIO public static int limitbd = 0; public static int limitbg = 2; @@ -27,6 +28,7 @@ public class Constants { +<<<<<<< HEAD public static int actuateur = 4; @@ -37,5 +39,8 @@ public class Constants { public static int pistonpinceferme = 1; public static int BrasTelescopique = 5; public static int actuateur = 4; +======= + +>>>>>>> 0c37463a91f99a8623a1405743145ad70a140362 } diff --git a/src/main/java/frc/robot/commands/bras/FermePince.java b/src/main/java/frc/robot/commands/bras/FermePince.java index ad2addc..609d44d 100644 --- a/src/main/java/frc/robot/commands/bras/FermePince.java +++ b/src/main/java/frc/robot/commands/bras/FermePince.java @@ -5,16 +5,22 @@ package frc.robot.commands.bras; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.bras.Pince; public class FermePince extends CommandBase { + private Pince pince; /** Creates a new FermePince. */ - public FermePince() { + public FermePince(Pince pince) { + this.pince = pince; // Use addRequirements() here to declare subsystem dependencies. + addRequirements(pince); } // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + pince.fermer(); + } // Called every time the scheduler runs while the command is scheduled. @Override diff --git a/src/main/java/frc/robot/commands/bras/OuvrePince.java b/src/main/java/frc/robot/commands/bras/OuvrePince.java index 0072fb9..2ad46c5 100644 --- a/src/main/java/frc/robot/commands/bras/OuvrePince.java +++ b/src/main/java/frc/robot/commands/bras/OuvrePince.java @@ -5,16 +5,22 @@ package frc.robot.commands.bras; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.bras.Pince; public class OuvrePince extends CommandBase { + private Pince pince; /** Creates a new OuvrePince. */ - public OuvrePince() { + public OuvrePince(Pince pince) { + this.pince = pince; // Use addRequirements() here to declare subsystem dependencies. + addRequirements(pince); } // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + pince.ouvrir(); + } // Called every time the scheduler runs while the command is scheduled. @Override diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java index 5a501c2..2058cd3 100644 --- a/src/main/java/frc/robot/subsystems/Gratte.java +++ b/src/main/java/frc/robot/subsystems/Gratte.java @@ -13,8 +13,11 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.DigitalInput; + 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);