pince

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

@@ -29,7 +29,7 @@ public class DepartPince extends Command {
       pince.reset();
     }
     else{
-      pince.pivote(.5);
+      pince.pivote(.2);
     }
   }
 

src/main/java/frc/robot/commands/L2.java

@@ -42,10 +42,10 @@ public class L2 extends Command {
      
     }
     else if(pince.encodeurpivot()>=510){
-      pince.pivote(-0.3);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.3);
+      pince.pivote(0.2);
     }
 
   }

src/main/java/frc/robot/commands/L3.java

@@ -41,10 +41,10 @@ public class L3 extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=710){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
   }
 

src/main/java/frc/robot/commands/L4.java

@@ -41,10 +41,10 @@ public class L4 extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=810){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
   }
 

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

@@ -14,9 +14,11 @@ public class PinceManuel extends Command {
   private Pince pince;
   private DoubleSupplier doubleSupplier;
   /** Creates a new PinceManuel. */
-  public PinceManuel(Pince pince, DoubleSupplier doubleSupplier) {
+  public PinceManuel(Pince pince
+  //, DoubleSupplier doubleSupplier
+  ) {
     this.pince = pince;
-    this.doubleSupplier = doubleSupplier;
+    //this.doubleSupplier = doubleSupplier;
     addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -32,7 +34,7 @@ public class PinceManuel extends Command {
       pince.pivote(0);
     }
     else{
-      pince.pivote(doubleSupplier.getAsDouble());
+      pince.pivote(0.2);
     }
   }
 

src/main/java/frc/robot/commands/PinceManuel2.java

@@ -0,0 +1,48 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 PinceManuel2 extends Command {
+  private Pince pince;
+  //private DoubleSupplier doubleSupplier;
+  /** Creates a new PinceManuel. */
+  public PinceManuel2(Pince pince
+   
+  //,DoubleSupplier doubleSupplier
+  ) {
+    this.pince = pince;
+   // this.doubleSupplier = doubleSupplier;
+    addRequirements(pince);
+    // 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() {
+
+      pince.pivote(-0.2);
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -33,10 +33,10 @@ public class StationPince extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
     if(elevateur.position()>=400 && elevateur.position()<=410){
       elevateur.vitesse(0);