Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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
 
 }

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

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

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);