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.