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

@@ -13,4 +13,7 @@ public class Constants {
     public static int etoile = 4;
     public static int Deaccumulationneur1 = 5;
     public static int Deaccumulationneur2 = 6;
+    public static int guideur = 7;
+    // limit switsh
+    public static int guideurhaut = 8;
 }

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

@@ -0,0 +1,22 @@
+// 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.subsystem;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Guideur extends SubsystemBase {
+  /** Creates a new Guideur. */
+  public Guideur() {}
+    final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
+    private DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}