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// 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.
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package frc.robot.command;
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import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Grimpeur;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
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public class GrimpeurBas extends Command {
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private Grimpeur grimpeur;
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/** Creates a new GrimpeurBas. */
public GrimpeurBas(Grimpeur grimpeur) {
this.grimpeur = grimpeur;
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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() {
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if(grimpeur.encodeur()>=500 && grimpeur.encodeur()<=510){
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grimpeur.grimpe(0);
}
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else if(grimpeur.encodeur()>=510){
grimpeur.grimpe(0.5);
}
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else{grimpeur.grimpe(-0.5);
}
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}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
grimpeur.grimpe(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
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return false;
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}
}