u

src/main/java/frc/robot/Constants.java

@@ -10,7 +10,11 @@ public class Constants {
     
     //moteur
     public static int leverGratte = 0;
+<<<<<<< HEAD
     public static int baiserGratte = 1;
+=======
+    public static int baisserGratte = 1;
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 
     // pneumatique
     public static int pistonpinceouvre = 0;

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

@@ -69,7 +69,6 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
-    // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
     /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
@@ -79,7 +78,12 @@ public RobotContainer() {
     manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
     manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
     manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+<<<<<<< HEAD
     manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
+=======
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+    
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   }
 
   public Command getAutonomousCommand() {

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

@@ -41,7 +41,9 @@ public class GratteBaisser extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -66,9 +66,8 @@ public void BrakeFerme(){
   brakegauche.set(Value.kReverse);
 }
 public void resetGyro(){
-  try {gyroscope.reset();} catch(Exception e){DriverStation.reportError("bye bye",true);
+  {gyroscope.reset();} 
  }
-  }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);

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

@@ -14,7 +14,11 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
+<<<<<<< HEAD
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+=======
+ ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
@@ -24,6 +28,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
+public boolean baiser;
   
   public boolean hautd(){
     return limithd.get();
@@ -33,7 +38,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     return limithg.get();
   }
 
-  public boolean basd(){
+  public boolean basd(int i, String string){
     return limitbd.get();
   }
   public boolean basg(){
@@ -60,4 +65,8 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
   }
+
+public boolean basd() {
+    return false;
+}
 }

src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java

@@ -24,9 +24,16 @@ public class BrasTelescopique extends SubsystemBase {
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
   .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
+<<<<<<< HEAD
  ShuffleboardLayout bras = Shuffleboard.getTab("teb")
  .getLayout("bras", BuiltInLayouts.kList)
  .withSize(2, 2);
+=======
+  
+ShuffleboardLayout bras = Shuffleboard.getTab("teb")
+.getLayout("bras", BuiltInLayouts.kList)
+.withSize(2, 2);
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);

src/main/java/frc/robot/subsystems/bras/Pivot.java

@@ -14,7 +14,11 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
+<<<<<<< HEAD
 ShuffleboardTab teb = Shuffleboard.getTab("teb");
+=======
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -39,7 +43,14 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
     teb .add("encodeur", 0.1);
     teb .add ("encodeur pivot",0.1);
   }
+<<<<<<< HEAD
 }
   
  
 
+=======
+  {
+  teb.add ("encodeur pivot",0.1);
+ }
+}
+>>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0