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bougie rainbw

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This commit is contained in:
Antoine PerreaultE 2025-03-01 09:36:50 -05:00
parent 17875a3d15
commit 0e349c53bb
1 changed files with 11 additions and 2 deletions
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13
src/main/java/frc/robot/commands/grimpeur/GrimpeurManuel.java
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@ -7,17 +7,20 @@ package frc.robot.commands.grimpeur;
import java.util.function.DoubleSupplier; import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Grimpeur; 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 */ /* 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 GrimpeurManuel extends Command { public class GrimpeurManuel extends Command {
private Grimpeur grimpeur; private Grimpeur grimpeur;
private DoubleSupplier x; private DoubleSupplier x;
private Bougie bougie;
/** Creates a new GrimpeurManuel. */ /** Creates a new GrimpeurManuel. */
public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) { public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x, Bougie bougie) {
this.grimpeur = grimpeur; this.grimpeur = grimpeur;
this.x = x; this.x = x;
addRequirements(grimpeur); this.bougie = bougie;
addRequirements(grimpeur, bougie);
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
} }
@ -29,9 +32,11 @@ public class GrimpeurManuel extends Command {
@Override @Override
public void execute() { public void execute() {
if(grimpeur.stop()){ if(grimpeur.stop()){
bougie.RainBow();
grimpeur.grimpe(0); grimpeur.grimpe(0);
} }
else{ else{
bougie.RainBowStop();
grimpeur.grimpe(x.getAsDouble()); grimpeur.grimpe(x.getAsDouble());
} }
@ -41,6 +46,10 @@ public class GrimpeurManuel extends Command {
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
grimpeur.grimpe(0); grimpeur.grimpe(0);
if(grimpeur.stop()){
bougie.RainBow();
}
else{bougie.RainBowStop();}
} }
// Returns true when the command should end. // Returns true when the command should end.