fuck les pistons

src/main/java/frc/robot/RobotContainer.java

@@ -30,8 +30,6 @@ import frc.robot.command.LancerNote;
 import frc.robot.command.LancerTrape;
 import frc.robot.command.Lancerampli;
 import frc.robot.command.Limelight_tracker;
-import frc.robot.command.PistonFerme;
-import frc.robot.command.PistonOuvre;
 import frc.robot.command.RestGyro;
 // Subsystems
 import frc.robot.subsystem.Accumulateur;
@@ -59,7 +57,6 @@ public class RobotContainer {
   CommandXboxController manette = new CommandXboxController(1);
 
    //command
-  PistonFerme pistonFerme = new PistonFerme(grimpeur);
   Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
   GuiderBas guiderBas = new GuiderBas(guideur);
@@ -82,16 +79,13 @@ public class RobotContainer {
 
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
-    NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
     autoChooser = AutoBuilder.buildAutoChooser();
 
     //manette
     manette.start().whileTrue(new RestGyro(drive));
     manette.a().whileTrue(new GuiderBas(guideur));
     manette.b().whileTrue(new GuiderHaut(guideur));
-    manette.x().whileTrue(new PistonFerme(grimpeur));
-    manette.y().whileTrue(new PistonOuvre(grimpeur));
-    
+
     //joystick
     joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur));
     joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));

src/main/java/frc/robot/command/GrimpeurDroit.java

@@ -36,7 +36,6 @@ public class GrimpeurDroit extends Command {
   @Override
   public void end(boolean interrupted) {
     grimpeur.droit(0);
-    grimpeur.pistonouvre();
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/PistonFerme.java

@@ -1,40 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystem.Grimpeur;
-
-public class PistonFerme extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new PistonFerme. */
-  public PistonFerme(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    grimpeur.pistonouvre();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.pistonferme();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return true;
-  }
-}

src/main/java/frc/robot/command/PistonOuvre.java

@@ -1,40 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystem.Grimpeur;
-
-public class PistonOuvre extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new PistonFerme. */
-  public PistonOuvre(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    grimpeur.pistonferme();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.pistonouvre();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return true;
-  }
-}

src/main/java/frc/robot/subsystem/Grimpeur.java

@@ -4,7 +4,6 @@
 
 package frc.robot.subsystem;
 
-import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
@@ -31,10 +30,8 @@ public class Grimpeur extends SubsystemBase {
   final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroite);
   //fonction
   public Grimpeur() {
-    pistonouvre();
     layout.addDouble("grimpeurencodeurd", this::encoderd);
     layout.addDouble("grimpeurencodeurg", this::encoderg);
-    layout.addDouble("pitchgyrogrimpeur", this::getpitch);
   }
 public void droit(double vitesse){
   grimpeurd.set(vitesse);
@@ -54,19 +51,6 @@ public double encoderd(){
 public double encoderg(){
   return grimpeurg.getEncoder().getPosition();
 }
-public AHRS gyroscope = new AHRS();
-  public double getpitch(){
-    return gyroscope.getPitch();
-  }
-  public void pistonferme(){
-     pistondroite.set(true);
-  }
-  public void pistonouvre(){
-    pistondroite.set(false);
-  }
-  public boolean piston(){
-    return pistondroite.get();
-  }
 
  @Override
   public void periodic() {