code mieux

src/main/java/frc/robot/commands/BalayeuseAlgue.java

@@ -27,23 +27,23 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  //   if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
-  //     requin.rotationer(0);
-  //     if(requin.stop()){
-  //     requin.balaye(0);
-  //     bougie.Vert();
-  //   }
-  //       else{
+     if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+       requin.rotationer(0);
+       if(requin.stop()){
+       requin.balaye(0);
+       bougie.Vert();
+     }
+         else{
           
            requin.balaye(0.5);
-  //   }
-  //   }
-  //   else if(requin.encodeur()>=510){
-  //   requin.rotationer(0.5);
-  //   }
-  //   else{
-  //     requin.rotationer(-0.5);
-  //   }
+     }
+     }
+     else if(requin.encodeur()>=510){
+     requin.rotationer(0.5);
+     }
+     else{
+      requin.rotationer(-0.5);
+     }
     
    }
 

src/main/java/frc/robot/commands/BalayeuseCoral.java

@@ -27,24 +27,30 @@ public class BalayeuseCoral extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
-    //   requin.rotationer(0);
-    //   if(requin.stop()){
-      requin.balaye(0.5);
-      // bougie.Vert();
+     if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+       requin.rotationer(0);
+      if(requin.amp()>8){
+      requin.balaye(0);
+       bougie.Vert();
+       if(requin.enHaut()){
+        requin.rotationer(0);
+       }
+        else{
+          requin.rotationer(0.5);
+        }
     }
-    // else{
-    //   requin.balaye(0.5);
-    // }
-    // }
-    // else if(requin.encodeur()>=110){
-    // requin.rotationer(0.5);
-    // }
-    // else{
-    //   requin.rotationer(-0.5);
-    // }
+     else{
+       requin.balaye(0.5);
+     }
+     }
+     else if(requin.encodeur()>=110){
+     requin.rotationer(0.5);
+     }
+     else{
+       requin.rotationer(-0.5);
+     }
     
-  // }
+  }
 
   // Called once the command ends or is interrupted.
   @Override

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

@@ -0,0 +1,40 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+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;
+  /** Creates a new ExpireAlgue. */
+  public ExpireAlgue(Requin requin) {
+    this.requin = requin;
+    // 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() {
+    requin.balaye(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -27,13 +27,14 @@ public class L1Requin extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    
     if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
-      if(requin.stop()){
+      if(requin.amp()>8){
       requin.balaye(-0.5);
     }
         else{
-          requin.balaye(-0.5); 
+          requin.balaye(0); 
           bougie.Rouge();
       }
     }

src/main/java/frc/robot/subsystems/Requin.java

@@ -15,7 +15,7 @@ public class Requin extends SubsystemBase {
   /** Creates a new Requin. */
   public Requin() {}
   final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
-  final SparkMax rotatione = new SparkMax(14, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(4);
   final DigitalInput limit5 = new DigitalInput(5);
   public void balaye(double vitesse){
@@ -36,6 +36,9 @@ public class Requin extends SubsystemBase {
   public void reset(){
     rotatione.getEncoder().setPosition(0);
   }
+  public double amp(){
+    return balaye.getOutputCurrent();
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run