Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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

@@ -12,6 +12,7 @@ import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -34,8 +35,8 @@ public class Grimpeur extends SubsystemBase {
   // limit switch
   final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
   final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
-  final DoubleSolenoid pistondroite= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre, Constants.pistondroiteouvre);
-  final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre);
+  final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
+  final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre);
   //fonction
   public Grimpeur() {
     layout.addBoolean("limitgrimpeurd", limitdroite::get);
@@ -72,15 +73,16 @@ public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();
   }
-  public boolean pistonouvre(){
-    pistondroite.set(Value.kForward);
-    pistondgauche.set(Value.kForward);
-    return pistondroite.isFwdSolenoidDisabled();
-  }
   public void pistonferme(){
-    pistondroite.set(Value.kReverse);
-    pistondgauche.set(Value.kReverse);
-  
+     pistondroite.set(true);
+     pistondgauche.set(true);
+  }
+  public void pistonouvre(){
+    pistondgauche.set(false);
+    pistondroite.set(false);
+  }
+  public boolean piston(){
+    return pistondgauche.get();
   }
   @Override
   public void periodic() {

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

@@ -12,14 +12,19 @@ public class LED extends SubsystemBase {
   /** Creates a new LED. */
   public LED() {}
    AddressableLED led = new AddressableLED(9);
-   AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(60);
+   AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(150);
    public void led(){
     led.setData(ledBuffer);
-    led.start();
-   }
-   public void couleur(int R, int G, int B){
-    ledBuffer.setRGB(0, R, G, B);
+    led.start();}
+   
+   public void couleur(int R, int G,int B){
+    for (int i = 0; i < ledBuffer.getLength(); i++) {
+    // Sets the specified LED to the RGB values for red
+    ledBuffer.setRGB(i, 255, 0, 0);}
+   
    }
+  
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run