From 72da7b7d74a22f942be57d29668c3e580e17cfdc Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 17:56:40 -0500
Subject: [PATCH] requin rotatione

---
 .../java/frc/robot/command/BalayeuseBas.java  | 46 +++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 src/main/java/frc/robot/command/BalayeuseBas.java

diff --git a/src/main/java/frc/robot/command/BalayeuseBas.java b/src/main/java/frc/robot/command/BalayeuseBas.java
new file mode 100644
index 0000000..110dd8c
--- /dev/null
+++ b/src/main/java/frc/robot/command/BalayeuseBas.java
@@ -0,0 +1,46 @@
+// 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.command;
+
+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 BalayeuseBas extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseBas(Requin requin) {
+    this.requin = requin;
+    addRequirements(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() {
+    if(requin.enBas()==true){
+      requin.rotationer(0);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}