From a62698d6411d53a558b6906b17601b073cdd3e00 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Thu, 8 Feb 2024 18:03:35 -0500
Subject: [PATCH] piston

---
 build.gradle                                        |  2 +-
 src/main/java/frc/robot/command/Pistongrimpeur.java |  4 ++--
 src/main/java/frc/robot/subsystem/Grimpeur.java     | 12 ++++++++----
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/build.gradle b/build.gradle
index c73a804..2348bae 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
 }
 
 java {
diff --git a/src/main/java/frc/robot/command/Pistongrimpeur.java b/src/main/java/frc/robot/command/Pistongrimpeur.java
index 2bb6bbc..93f2da2 100644
--- a/src/main/java/frc/robot/command/Pistongrimpeur.java
+++ b/src/main/java/frc/robot/command/Pistongrimpeur.java
@@ -22,14 +22,14 @@ public class Pistongrimpeur extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    grimpeur.pistondroiteouvre();
+    grimpeur.pistonouvre();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     
-    if(grimpeur.pistondgaucheouvre()){
+    if(grimpeur.piston()){
       LED.couleur(0, 0, 255);
     }
   }
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index eb41d70..725db90 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -77,13 +77,17 @@ public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();
   }
-  public boolean pistondroiteouvre(){
-    return pistondroite.get();
+  public void pistonferme(){
+     pistondroite.set(true);
+     pistondgauche.set(true);
   }
-  public boolean pistondgaucheouvre(){
+  public void pistonouvre(){
+    pistondgauche.set(false);
+    pistondroite.set(false);
+  }
+  public boolean piston(){
     return pistondgauche.get();
   }
-  
   @Override
   public void periodic() {
     // This method will be called once per scheduler run