leds baleeuse et saaaaaaaaaaam

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

@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 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 BalayeuseAlgue extends Command {
   private Requin requin;
+  private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseAlgue(Requin requin) {
+  public BalayeuseAlgue(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie =bougie;
+    addRequirements(requin, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class BalayeuseAlgue extends Command {
   public void execute() {
     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);
@@ -33,12 +43,7 @@ public class BalayeuseAlgue extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
-      requin.balaye(0);
-    }
-    else{
-      requin.balaye(0.5);
-    }
+    
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 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 BalayeuseCoral extends Command {
   private Requin requin;
+  private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseCoral(Requin requin) {
+  public BalayeuseCoral(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class BalayeuseCoral extends Command {
   public void execute() {
     if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
       requin.rotationer(0);
+      if(requin.stop()){
+      requin.balaye(0);
+      bougie.Vert();
+    }
+    else{
+      requin.balaye(0.5);
+    }
     }
     else if(requin.encodeur()>=110){
     requin.rotationer(0.5);
@@ -33,12 +43,7 @@ public class BalayeuseCoral extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
-      requin.balaye(0);
-    }
-    else{
-      requin.balaye(0.5);
-    }
+    
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 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 L1Requin extends Command {
   private Requin requin;
+  private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public L1Requin(Requin requin) {
+  public L1Requin(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class L1Requin extends Command {
   public void execute() {
     if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
+      if(requin.stop()){
+      requin.balaye(-0.5);
+    }
+    else{
+      requin.balaye(-0.5); 
+      bougie.Rouge();
+    }
     }
     else if(requin.encodeur()>=810){
     requin.rotationer(0.5);
@@ -33,12 +43,10 @@ public class L1Requin extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
-      requin.balaye(0);
-    }
-    else{
-      requin.balaye(0.5);
-    }
+    
+    
+      
+    
   }
 
   // Called once the command ends or is interrupted.