Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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

@@ -7,6 +7,7 @@ package frc.robot.commands.Elevateur;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
@@ -15,11 +16,13 @@ public class StationPince extends Command {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private Pince pince;
   private Elevateur elevateur;
+  private Bougie bougie;
   /** Creates a new L2Pince. */
-  public StationPince(Pince pince,Elevateur elevateur) {
+  public StationPince(Pince pince,Elevateur elevateur, Bougie bougie) {
     this.elevateur = elevateur;
     this.pince = pince;
-    addRequirements(pince,elevateur);
+    this.bougie = bougie;
+    addRequirements(pince,elevateur, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -30,7 +33,13 @@ public class StationPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(0.5);
+    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);
     }