touche, amperage, distance

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

@@ -28,26 +28,37 @@ public class StationPince extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral() > 60){
-      pince.aspirecoral(0);bougie.Bleu();
-    }
-    else{
-      pince.aspirecoral(0.5);
-    }
     
-    if(pince.encodeurpivot()<=11 && pince.encodeurpivot()>=12.6){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=9.8){
-      pince.pivote(-0.1);
+    if(pince.emperagecoral() >= 12){     
+      pince.x = true;
     }
+    if(pince.x){
+      pince.aspirecoral(0);
+      bougie.Bleu();
+      pince.pivote(-0.2);
+      if(pince.position()){
+        pince.pivote(0);
+      }
+     }
     else{
-      pince.pivote(0.1);
+      pince.aspirecoral(0.1);
+    }
+    if (!pince.x){
+      if(pince.encodeurpivot()>=10.5 && pince.encodeurpivot()<=11.5){
+        pince.pivote(0);
+      }
+      else if(pince.encodeurpivot()>=11){
+        pince.pivote(-0.1);
+      }
+      else{
+        pince.pivote(0.1);
+      }
     }
   }
 
@@ -56,6 +67,7 @@ public class StationPince extends Command {
   public void end(boolean interrupted) {
     pince.pivote(0);
     pince.aspirecoral(0);
+    pince.x =false;
   }
 
   // Returns true when the command should end.