jgfhfcnh

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

@@ -17,11 +17,12 @@ public class Constants {
      public static int actuateur = 2;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
-    // DIO Brando
+    // DIO
     public static int limitbd = 0;
     public static int limitbg = 2;
     public static int limithd = 3;
     public static int limithg = 1;
+    public static int photocell = 4;
 
     
 }

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

@@ -3,10 +3,10 @@
 // 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. */
@@ -23,7 +23,20 @@ public class GratteBaisser extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    gratte.baiser(0.5);
+    if(gratte.basd()){
+      gratte.baiser(0);
+    }
+    else{
+      gratte.baiser(0.5);
+    }
+    if(gratte.basg()){
+      gratte.baiser(0);
+    }
+    else{
+      gratte.baiser(0.5);
+    }
+   
+
   }
 
   // Called once the command ends or is interrupted.

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

@@ -23,7 +23,18 @@ public class GratteMonte extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    gratte.Lever(0.5);
+    if(gratte.hautd()){
+      gratte.Lever(0);
+    }
+    else{
+      gratte.Lever(0.5);
+    }
+    if(gratte.hautg()) {
+      gratte.Lever(0.5);
+    }
+    else{
+      gratte.Lever(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/bras/PivotBrasRentre.java

@@ -33,6 +33,9 @@ public class PivotBrasRentre extends CommandBase {
     if (pivot.distance()>1){
       pivot.monteDescendre(0.5);
     }
+    else if(brasTelescopique.photocell()){
+      brasTelescopique.Reset();
+    }
   }
   
   // Called once the command ends or is interrupted.

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

@@ -8,6 +8,7 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -15,6 +16,7 @@ public class BrasTelescopique extends SubsystemBase {
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
+  private DigitalInput photocell = new DigitalInput(Constants.photocell);
   public void AvanceRecule(double vitesse) {
     Winch.set(vitesse);
   }
@@ -24,7 +26,9 @@ public class BrasTelescopique extends SubsystemBase {
   public void Reset() {
     Winch.getEncoder().setPosition(0);
   }
-
+  public boolean photocell(){
+    return photocell.get();
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run