From 3b372104e4bf7f8ada0a9b8fead4c0b66a9ca14f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 20:26:23 -0500
Subject: [PATCH] requin manuel + aspire

---
 src/main/java/frc/robot/RobotContainer.java  | 14 +++++--
 src/main/java/frc/robot/commands/aspire.java | 41 ++++++++++++++++++++
 2 files changed, 52 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/aspire.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bab63e9..4ecaa11 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,29 +4,37 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.BalayeuseAlgue;
 import frc.robot.commands.BalayeuseBas;
 import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
+import frc.robot.commands.aspire;
+import frc.robot.commands.requin_manuel;
 import frc.robot.subsystems.Requin;
 import frc.robot.subsystems.Bougie;
+import frc.robot.commands.aspire;
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 Requin requin = new Requin();
 Bougie bougie = new Bougie();
-
+aspire aspire = new aspire(requin);
+requin_manuel requin_manuel = new requin_manuel(requin);
   public RobotContainer() {
     configureBindings();
-    requin.
+   requin.setDefaultCommand(new RunCommand(()->{
+      requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
+    }, requin));
   }
 
   private void configureBindings() {
-    manette2.a().whileTrue(new BalayeuseBas(requin));
+    manette2.a().whileTrue(new aspire(requin));
     manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
     manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/aspire.java
new file mode 100644
index 0000000..c7f7a42
--- /dev/null
+++ b/src/main/java/frc/robot/commands/aspire.java
@@ -0,0 +1,41 @@
+// 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 aspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public aspire(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // 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;
+  }
+}