code mieux

src/main/java/frc/robot/commands/AlgueExpire.java

@@ -31,7 +31,7 @@ public class AlgueExpire extends Command {
       pince.aspirealgue(0);
     }
     else{
-      pince.aspirealgue(0.5);
+      pince.aspirealgue(-0.5);
       bougie.Jaune();
     }
     

src/main/java/frc/robot/commands/PinceManuel.java

@@ -0,0 +1,41 @@
+// 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.commands;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 PinceManuel extends Command {
+  private Pince pince;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new PinceManuel. */
+  public PinceManuel(Pince pince, DoubleSupplier doubleSupplier) {
+    this.pince = pince;
+    this.doubleSupplier = doubleSupplier;
+    addRequirements(pince);
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}