From 24ac20a097a59de8e21996738d8a4df14b2d4ed5 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 22 Jan 2024 19:32:35 -0500
Subject: [PATCH] grimpeur

---
 src/main/java/frc/robot/Constants.java        |  6 +--
 .../java/frc/robot/subsystem/Grimpeur.java    | 41 ++++++++++++++++++-
 2 files changed, 41 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 66aaf3b..2ee83c7 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -22,9 +22,7 @@ public class Constants {
     public static int guideurhaut = 10;
     public static int guideurbas = 11;
     public static int limitacc = 12;
-    public static int limitbasd =15;
-    public static int limitbasg =16;
-    public static int limithautd =17;
-    public static int limithautg =18;
+    public static int limitbas =15;
+    public static int limithaut =16;
   
 }
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index cff76db..b61e3c5 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -4,15 +4,52 @@
 
 package frc.robot.subsystem;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Acrocheur. */
+  // moteur
   public Grimpeur() {}
-  final 
-
+  final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
+  final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
+  // limit switch
+  final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
+  final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
+  //fonction
+public void droit(double vitesse){
+  grimpeurd.set(vitesse);
+} 
+public void gauche(double vitesse){
+  grimpeurg.set(vitesse);
+} 
+public boolean droite(){
+  return limitdroite.get();
+}
+public boolean gauche(){
+  return limitgauche.get();
+}
+public void resetencodeurd(){
+  grimpeurd.getEncoder().setPosition(0);
+}
+public void resetencodeurg(){
+  grimpeurg.getEncoder().setPosition(0);
+}
+public void grimpeur(){
+  grimpeurg.follow(grimpeurd);
+}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    if(droite()) {
+      resetencodeurd();
+    }
+    if(gauche()) {
+      resetencodeurg();
+    }
   }
 }