From 5e44778df54573f5b93d47dd43b9eba712614740 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 24 Jan 2024 18:28:35 -0500
Subject: [PATCH 1/2]

---
 src/main/java/frc/robot/Constants.java          |  9 +++++++--
 src/main/java/frc/robot/subsystem/Grimpeur.java | 15 +++++++++++++++
 2 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index ca8a00f..8c918b3 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -42,12 +42,17 @@ public class Constants {
     public static int ArriereDroit = 6;
     public static int ArriereGauche = 7;
 
-    // Limit switsh
+    // Limit switch
     public static int guideurhaut = 23;
     public static int guideurbas = 24;
     public static int limitacc = 25;
     public static int limitacc2 = 76;
     public static int limithaut = 28;
     public static int limitbas = 29;
-  
+
+    //piston
+    public static int pistondroiteouvre= 30;
+    public static int pistondroiteferme= 31;
+    public static int pistondgaucheouvre= 32;
+    public static int pistondgauchferme= 32;
 }
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 447132b..aa1aa2e 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -9,6 +9,10 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 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.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -21,6 +25,8 @@ 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);
   //fonction
 public void droit(double vitesse){
   grimpeurd.set(vitesse);
@@ -40,10 +46,19 @@ public void resetencodeurd(){
 public void resetencodeurg(){
   grimpeurg.getEncoder().setPosition(0);
 }
+
 public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();
   }
+  public void pistonouvre(){
+    pistondroite.set(Value.kForward);
+    pistondgauche.set(Value.kForward);
+  }
+  public void pistonferme(){
+    pistondroite.set(Value.kReverse);
+    pistondgauche.set(Value.kReverse);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 78d284d0d19f7eaf7f7fddbed2014cc860d41f49 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 24 Jan 2024 19:32:23 -0500
Subject: [PATCH 2/2]

---
 .../java/frc/robot/command/GrimpeurHaut.java  | 38 +++++++++++++++++++
 .../java/frc/robot/subsystem/Grimpeur.java    |  1 -
 2 files changed, 38 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc/robot/command/GrimpeurHaut.java

diff --git a/src/main/java/frc/robot/command/GrimpeurHaut.java b/src/main/java/frc/robot/command/GrimpeurHaut.java
new file mode 100644
index 0000000..840c475
--- /dev/null
+++ b/src/main/java/frc/robot/command/GrimpeurHaut.java
@@ -0,0 +1,38 @@
+// 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 GrimpeurHaut extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurHaut. */
+  public GrimpeurHaut(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() {}
+
+  // 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) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index aa1aa2e..ed02bda 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -11,7 +11,6 @@ import com.revrobotics.CANSparkLowLevel.MotorType;
 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.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;