jgfhfcnh

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.