bougie fini(J'espere)

src/main/java/frc/robot/commands/Pince/Algue_inspire.java

@@ -5,15 +5,18 @@
 package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 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 Algue_inspire extends Command {
   /** Creates a new Algue_inspire. */
   private Pince pince;
-  public Algue_inspire(Pince pince) {
+  private Bougie bougie;
+  public Algue_inspire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,7 +30,15 @@ public class Algue_inspire extends Command {
   //ajouter l'amperage pour arreter les moteurs
   @Override
   public void execute() {
-    pince.aspirealgue(0.5);
+    
+    if(pince.emperagealgue()>60){
+      pince.aspirealgue(0);
+      bougie.Bleu();
+    }
+    else{
+      pince.aspirealgue(0.5);
+      
+    }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Pince/CorailAspir.java

@@ -5,16 +5,19 @@
 package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 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 CorailAspir extends Command {
   /** Creates a new CorailAspir. */
   private Pince pince;
-  public CorailAspir(Pince pince) {
+  Bougie bougie;
+  public CorailAspir(Pince pince, Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -24,7 +27,10 @@ public class CorailAspir extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-
+    if(pince.emperagecoral() > 60){
+      pince.aspirecoral(0);
+      bougie.Bleu();
+    }
     pince.aspirecoral(0.5);
   }
 

src/main/java/frc/robot/commands/Pince/CorailTest.java

@@ -1,41 +0,0 @@
-// 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.Pince;
-
-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 CorailTest extends Command {
-  private Pince pince;
-  /** Creates a new AlgueTest. */
-  public CorailTest(Pince pince) {
-    this.pince = pince;
-    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() {
-    pince.aspirecoral(0.2);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.aspirecoral(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java

@@ -31,11 +31,11 @@ public class CoralAlgueInspire extends Command {
     if(pince.emperagealgue()>60){
       pince.aspirealgue(0);
       bougie.Bleu();
-     } 
+      } 
      else{
       pince.aspirealgue(0.5);
+      bougie.Jaune();
       }
-    
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Pince/CoralExpire.java

@@ -26,13 +26,13 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    //if(pince.emperagecoral() > 60){
-    //  pince.aspirecoral(0);
-   //}
-   //else{
+    if(pince.emperagecoral() > 60){
+     pince.aspirecoral(0);
+   }
+   else{
     pince.aspirecoral(-.5);
-    //bougie.Jaune();
-   // }
+    bougie.Jaune();
+    }
   }
 
   // Called once the command ends or is interrupted.