touche, amperage, distance

src/main/java/frc/robot/commands/Elevateur/Depart.java

@@ -11,10 +11,12 @@ 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 Depart extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
   public Depart(Elevateur elevateur, Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur, pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -25,20 +27,27 @@ public class Depart extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(pince.position()){
+      pince.pivote(0);
+      pince.reset();
+    }
+    else{
+      pince.pivote(-0.2);
+    }
     if(elevateur.limit2()==true){
       elevateur.vitesse(0);
       elevateur.reset();
     }
     else{
-      elevateur.vitesse(.3);
+      elevateur.vitesse(.5);
     }
-    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.