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

@@ -13,7 +13,8 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 // Manette
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-
+import frc.robot.command.GuiderBas;
+import frc.robot.command.GuiderHaut;
 // Subsystem
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -31,14 +32,16 @@ public class RobotContainer {
   Grimpeur grimpeur = new Grimpeur();
   Guideur guideur = new Guideur();
   Lanceur lanceur = new Lanceur();
-
+  GuiderHaut guiderHaut = new GuiderHaut(guideur);
+  GuiderBas guiderBas = new GuiderBas(guideur);
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
   
   public RobotContainer() {
 
     CameraServer.startAutomaticCapture();
-
+    manette.a().onTrue(guiderBas);
+    manette.b().onTrue(guiderHaut);
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
      drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));

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

@@ -1,51 +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 GrimpeurBas extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new GrimpeurBas. */
-  public GrimpeurBas(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.resetencodeurd();
-    grimpeur.resetencodeurg();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(grimpeur.droite()){
-      grimpeur.resetencodeurd();
-      grimpeur.gauche(0);
-    }
-    if(grimpeur.gauche()){
-      grimpeur.resetencodeurg();
-      grimpeur.gauche(0);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.droit(0);
-    grimpeur.gauche(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -10,7 +10,7 @@ import frc.robot.subsystem.Guideur;
 public class GuiderHaut extends Command {
   private Guideur guideur;
   /** Creates a new GuiderHaut. */
-  public GuiderHaut() {
+  public GuiderHaut(Guideur guideur) {
     this.guideur = guideur;
     addRequirements(guideur);
     // Use addRequirements() here to declare subsystem dependencies.

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

@@ -16,7 +16,7 @@ public class Guideur extends SubsystemBase {
   
     final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
     final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
-    final DigitalInput guideurbas = new DigitalInput(Constants.guideurhaut);
+    final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas);
 
       public void guider(double vitesse){
         guideur.set(vitesse);