kjhgf

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

@@ -9,6 +9,12 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+<<<<<<< HEAD
+=======
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -20,6 +26,7 @@ public class BrasTelescopique extends SubsystemBase {
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
   private DigitalInput photocell = new DigitalInput(Constants.photocell);
+  private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
   public void AvanceRecule(double vitesse) {
     Winch.set(vitesse);
   }
@@ -30,11 +37,22 @@ public class BrasTelescopique extends SubsystemBase {
     Winch.getEncoder().setPosition(0);
   }
   public boolean photocell(){
-    return photocell.get();
+    return photocell.get(); 
   }
+  public void fermer() {
+    brakewinch.set(Value.kReverse);
+    }
+    public void ouvrir() {
+      brakewinch.set(Value.kForward);
+    }
   @Override
   public void periodic() {
+<<<<<<< HEAD
     teb .add("``photocell``",0.1);
     teb .add("winch",0.1);
+=======
+    Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
+>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
   }
 }

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

@@ -36,6 +36,14 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
+<<<<<<< HEAD
     teb .add("encodeur", 0.1);
   }
 }
+=======
+    Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
+  }
+ }
+
+>>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a