bougie fini(J'espere)

src/main/java/frc/robot/commands/requin/ExpireAlgue.java

@@ -5,15 +5,19 @@
 package frc.robot.commands.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Requin;
 
 /* 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 ExpireAlgue extends Command {
   private Requin requin;
+  private Bougie bougie;
   /** Creates a new ExpireAlgue. */
-  public ExpireAlgue(Requin requin) {
+  public ExpireAlgue(Requin requin, Bougie bougie
+  ) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,7 +28,14 @@ public class ExpireAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.5);
+    if(requin.amp()> 60){
+      requin.balaye(-0.5);
+    }
+     else
+     {
+          bougie.Rouge();
+          requin.balaye(-0.5);
+     }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/requin/L1Requin.java

@@ -30,7 +30,7 @@ public class L1Requin extends Command {
     
     if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
-      if(requin.amp()>8){
+      if(requin.amp()>60){
       requin.balaye(-0.5);
     }
         else{

src/main/java/frc/robot/commands/requin/aspire.java

@@ -5,16 +5,19 @@
 package frc.robot.commands.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Requin;
 
 /* 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 aspire extends Command {
   /** Creates a new aspire. */
   private Requin requin;
-  public aspire(Requin requin) {
+  private Bougie bougie;
+  public aspire(Requin requin, Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin, bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -24,7 +27,14 @@ public class aspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.3);
+    if(requin.amp()> 60){
+      requin.balaye(0);
+      bougie.Vert();
+    }
+     else
+     {
+          requin.balaye(0.5);
+     }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/requin/exspire.java

@@ -5,16 +5,21 @@
 package frc.robot.commands.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Requin;
 
 /* 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 exspire extends Command {
   /** Creates a new aspire. */
   private Requin requin;
-  public exspire(Requin requin) {
+  private Bougie bougie
+  ;
+  public exspire(Requin requin,Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie
+    =bougie;
+    addRequirements(requin,bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -24,7 +29,14 @@ public class exspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(-0.3);
+    if(requin.amp()> 60){
+      requin.balaye(-0.5);
+    }
+     else
+     {
+          bougie.Rouge();
+          requin.balaye(-0.5);
+     }
   }
 
   // Called once the command ends or is interrupted.