From f86be6301cf30216b63fb64bd17ec720afbc27fc Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 12 Feb 2024 18:11:55 -0500
Subject: [PATCH] s

---
 .../java/frc/robot/subsystem/Grimpeur.java    | 24 ++-----------------
 1 file changed, 2 insertions(+), 22 deletions(-)

diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 293bdec..c93b430 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -10,14 +10,12 @@ import com.revrobotics.CANSparkLowLevel.MotorType;
 
 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;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -33,14 +31,11 @@ public class Grimpeur extends SubsystemBase {
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
   // limit switch
-  final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
-  final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
   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);
-    layout.addBoolean("limitgrimpeurg", limitdroite::get);
+ 
     layout.add("grimpeurencodeurd", encoderd());
     layout.add("grimpeurencodeurg", encoderg());
     layout.add("pitchgyrogrimpeur", getpitch());
@@ -51,12 +46,6 @@ public void droit(double vitesse){
 public void gauche(double vitesse){
   grimpeurg.set(vitesse);
 } 
-public boolean droite(){
-  return limitdroite.get();
-}
-public boolean gauche(){
-  return limitgauche.get();
-}
 public void resetencodeurd(){
   grimpeurd.getEncoder().setPosition(0);
 }
@@ -84,14 +73,5 @@ public AHRS gyroscope = new AHRS();
   public boolean piston(){
     return pistondgauche.get();
   }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-    if(droite()) {
-      resetencodeurd();
-    }
-    if(gauche()) {
-      resetencodeurg();
-    }
-  }
 }
+