Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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

@@ -21,28 +21,6 @@ public class Constants {
     public static int limithd = 3;
     public static int limithg = 1;
 
-
-
     public static int BrasTelescopique = 5;
-
-
-
-
-
-
-<<<<<<< HEAD
-
-
-    public static int actuateur = 4;
-
-    public static int actuateur = 4;
-    // pneumatique
-    public static int pistonpinceouvre = 0;
-    public static int pistonpinceferme = 1;
-    public static int BrasTelescopique = 5;
-    public static int actuateur = 4;
-=======
-    
->>>>>>> 0c37463a91f99a8623a1405743145ad70a140362
-
 }
+  

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

@@ -33,7 +33,7 @@ public class Gyro extends CommandBase {
    }
    else
    {
-     basvjePilotable.drive(0, 0, 0); 
+     basePilotable.drive(0, 0, 0); 
    }
 }
 

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -10,6 +10,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -23,9 +24,12 @@ public class BasePilotable extends SubsystemBase {
   final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
+  //piston
+  private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
+  private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
+  //gyro
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
-
-  public double getpitch() {
+   public double getpitch() {
     return gyroscope.getPitch();
   }
 
@@ -44,7 +48,14 @@ public class BasePilotable extends SubsystemBase {
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);
   }
-
+public void BrakeOuvre(){
+  brakedroit.set(Value.kForward);
+  brakegauche.set(Value.kForward);
+}
+public void BrakeFerme(){
+  brakedroit.set(Value.kReverse);
+  brakegauche.set(Value.kReverse);
+}
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);