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

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+// 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.CommandBase;
+import frc.robot.subsystems.Gratte;
+
+public class GratteBaisser extends CommandBase {
+  private Gratte gratte;
+  /** Creates a new GratteBaisser. */
+  public GratteBaisser(Gratte gratte) {
+    this.gratte = gratte;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(gratte);
+  }
+
+  // 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() {
+    gratte.baiser(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

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+// 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.CommandBase;
+import frc.robot.subsystems.Gratte;
+
+public class GratteMonte extends CommandBase {
+  private Gratte gratte;
+  /** Creates a new GratteMonte. */
+  public GratteMonte(Gratte gratte) {
+    this.gratte = gratte;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(gratte);
+  }
+
+  // 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() {
+    gratte.Lever(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}