From fafc79523ea469d907bc9519db9cb53606676aed Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Sat, 17 Feb 2024 14:15:03 -0500
Subject: [PATCH] changement petit code vers gros

---
 src/main/java/frc/robot/Constants.java             |  2 +-
 src/main/java/frc/robot/command/GrimpeurDroit.java |  6 ++----
 .../java/frc/robot/command/GrimpeurGauche.java     | 14 ++++++++------
 src/main/java/frc/robot/command/PistonFerme.java   |  6 ++++--
 src/main/java/frc/robot/subsystem/Grimpeur.java    |  2 +-
 5 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 5735435..cdb9911 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -48,5 +48,5 @@ public class Constants {
     public static int photocellacc = 2;
 
     //piston
-    public static int pistondroiteouvre= 6;
+    public static int pistondroiteouvre= 7;
 }
diff --git a/src/main/java/frc/robot/command/GrimpeurDroit.java b/src/main/java/frc/robot/command/GrimpeurDroit.java
index 162d692..cb53ba4 100644
--- a/src/main/java/frc/robot/command/GrimpeurDroit.java
+++ b/src/main/java/frc/robot/command/GrimpeurDroit.java
@@ -24,16 +24,14 @@ public class GrimpeurDroit extends Command {
   @Override
   public void initialize() {
     grimpeur.resetencodeurd();
-    grimpeur.pistonferme();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     grimpeur.droit(doubleSupplier.getAsDouble());
-  if(grimpeur.encoderd()>78){
-    grimpeur.droit(0);
-    
+  if(grimpeur.encoderd()<73){
+    grimpeur.droit(doubleSupplier.getAsDouble());
   }
   else if(grimpeur.getpitch()<-15){
     grimpeur.droit(-doubleSupplier.getAsDouble());
diff --git a/src/main/java/frc/robot/command/GrimpeurGauche.java b/src/main/java/frc/robot/command/GrimpeurGauche.java
index ea9d860..df8891e 100644
--- a/src/main/java/frc/robot/command/GrimpeurGauche.java
+++ b/src/main/java/frc/robot/command/GrimpeurGauche.java
@@ -23,17 +23,17 @@ public class GrimpeurGauche extends Command {
   // 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() {
     grimpeur.gauche(doubleSupplier.getAsDouble());
-    if(grimpeur.encoderg()>73){
-      grimpeur.gauche(0);
-    }
+    if(grimpeur.encoderg()<78){
+      grimpeur.gauche(doubleSupplier.getAsDouble());
+     }
     else if(grimpeur.getpitch()<-15){
       grimpeur.gauche(doubleSupplier.getAsDouble());
     }
@@ -43,10 +43,12 @@ public class GrimpeurGauche extends Command {
     else{
       grimpeur.gauche(0);
     }
-    if(grimpeur.encoderd()>0){
+    if(grimpeur.encoderg()<0){
+      grimpeur.gauche(doubleSupplier.getAsDouble());
+    }
+    else{
       grimpeur.resetencodeurg();
       grimpeur.gauche(0);
-      
     }
   }
 
diff --git a/src/main/java/frc/robot/command/PistonFerme.java b/src/main/java/frc/robot/command/PistonFerme.java
index b4ef3fd..c072790 100644
--- a/src/main/java/frc/robot/command/PistonFerme.java
+++ b/src/main/java/frc/robot/command/PistonFerme.java
@@ -19,7 +19,7 @@ public class PistonFerme extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    grimpeur.pistonferme();
+    grimpeur.pistonouvre();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -28,7 +28,9 @@ public class PistonFerme extends Command {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    grimpeur.pistonferme();
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 045a1be..e16af68 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -28,7 +28,7 @@ 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 Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
+  final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroiteouvre);
   //fonction
   public Grimpeur() {
     pistonouvre();