positon

src/main/java/frc/robot/command/L2.java

@@ -0,0 +1,46 @@
+// 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.subsystems.Elevateur;
+
+/* 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 */
+public class L2 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public L2(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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() {
+    if(elevateur.position(500)>=500){
+      elevateur.vitesse(0);
+    }
+    else{
+      elevateur.vitesse(.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.position(500)>=500;
+  }
+}

src/main/java/frc/robot/command/L3.java

@@ -0,0 +1,46 @@
+// 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.subsystems.Elevateur;
+
+/* 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 */
+public class L3 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public L3(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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() {
+    if(elevateur.position(700)>=700){
+      elevateur.vitesse(0);
+    }
+    else{
+      elevateur.vitesse(.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.position(700)>=700;
+  }
+}

src/main/java/frc/robot/command/L4.java

@@ -0,0 +1,46 @@
+// 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.subsystems.Elevateur;
+
+/* 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 */
+public class L4 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public L4(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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() {
+    if(elevateur.position(800)>=800){
+      elevateur.vitesse(0);
+    }
+    else{
+      elevateur.vitesse(.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.position(800)>=800;
+  }
+}

src/main/java/frc/robot/subsystems/Elevateur.java

@@ -13,34 +13,16 @@ public class Elevateur extends SubsystemBase {
   public Elevateur() {}
   final SparkMax  monte = new SparkMax(0, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(0);
-  public double positionL2(double position){
+  public double position(double position){
     return monte.getEncoder().getPosition();
   }
-  public void vitesseL2(double vitesse){
-    monte.set(vitesse);
-  }
-  public double positionL3(double position){
-    return monte.getEncoder().getPosition();
-  }
-  public void vitesseL3(double vitesse){
-    monte.set(vitesse);
-  }
-  public double positionL4(double position){
-    return monte.getEncoder().getPosition();
-  }
-  public void vitesseL4(double vitesse){
-    monte.set(vitesse);
-  }
-  public double position1(double position){
-    return monte.getEncoder().getPosition();
-  }
-  public void vitesse1(double vitesse){
+  public void vitesse(double vitesse){
     monte.set(vitesse);
   }
+
+
+
  
-  public void manuel(double vitesse){
-    monte.set(vitesse);
-  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run