Subsystem Pince (Message Consructif)

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

@@ -5,6 +5,10 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
+    // pneumatique
+    public static int pistonpinceouvre = 0;
+    public static int pistonpinceferme = 1;
+
 
 
 

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

@@ -4,14 +4,28 @@
 
 package frc.robot.subsystems.bras;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import frc.robot.Constants;
 
 public class Pince extends SubsystemBase {
+  private DoubleSolenoid pistonPince = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
   /** Creates a new Pince. */
-  public Pince() {}
+  public Pince() {
    
+  }
+public void fermer() {
+     pistonPince.set(Value.kReverse);
+    
+   }
+   public void ouvrir() {
+     pistonPince.set(Value.kForward);
+
+   }
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    
   }
 }