From aafb2a62b5f53e43224cd5e6ea5afddf3f5aedb6 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 19:09:16 -0500
Subject: [PATCH] Algue

---
 ...CoralAlgueExpire.java => AlgueExpire.java} |  6 +--
 .../frc/robot/command/CoralAlgueInspire.java  | 15 +++++-
 src/main/java/frc/robot/command/L2Pince.java  | 47 +++++++++++++++++++
 src/main/java/frc/robot/subsystems/Pince.java |  6 +++
 4 files changed, 68 insertions(+), 6 deletions(-)
 rename src/main/java/frc/robot/command/{CoralAlgueExpire.java => AlgueExpire.java} (89%)
 create mode 100644 src/main/java/frc/robot/command/L2Pince.java

diff --git a/src/main/java/frc/robot/command/CoralAlgueExpire.java b/src/main/java/frc/robot/command/AlgueExpire.java
similarity index 89%
rename from src/main/java/frc/robot/command/CoralAlgueExpire.java
rename to src/main/java/frc/robot/command/AlgueExpire.java
index 261619f..00559dd 100644
--- a/src/main/java/frc/robot/command/CoralAlgueExpire.java
+++ b/src/main/java/frc/robot/command/AlgueExpire.java
@@ -8,10 +8,10 @@ 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 CoralAlgueExpire extends Command {
+public class AlgueExpire extends Command {
   private Pince pince;
   /** Creates a new CoralAlgue. */
-  public CoralAlgueExpire(Pince pince) {
+  public AlgueExpire(Pince pince) {
     this.pince = pince;
     addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -24,14 +24,12 @@ public class CoralAlgueExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(.5);
     pince.aspirealgue(0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirecoral(0);
     pince.aspirealgue(0); 
   }
 
diff --git a/src/main/java/frc/robot/command/CoralAlgueInspire.java b/src/main/java/frc/robot/command/CoralAlgueInspire.java
index d870285..64d0e1d 100644
--- a/src/main/java/frc/robot/command/CoralAlgueInspire.java
+++ b/src/main/java/frc/robot/command/CoralAlgueInspire.java
@@ -24,8 +24,19 @@ public class CoralAlgueInspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(-.5);
-    pince.aspirealgue(-0.5);
+    if(pince.emperagecoral()>8){
+    pince.aspirealgue(-0.5);  
+    }
+    else{
+      pince.aspirealgue(0);
+    }
+    if(pince.emperagealgue()>8){
+      pince.aspirealgue(0);
+     } 
+     else{
+      pince.aspirealgue(-0.5);
+      }
+    
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/command/L2Pince.java b/src/main/java/frc/robot/command/L2Pince.java
new file mode 100644
index 0000000..a39c34c
--- /dev/null
+++ b/src/main/java/frc/robot/command/L2Pince.java
@@ -0,0 +1,47 @@
+// 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.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 L2Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L2Pince(Pince pince) {
+    this.pince = pince;
+    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() {
+    if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=510){
+      pince.pivote(-0.3);
+    }
+    else{
+      pince.pivote(0.3);
+    }
+  }
+
+  // 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;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 9b44423..e2ec30e 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -36,6 +36,12 @@ public boolean position(){
 }
 public void reset(){
   pivoti.getEncoder().setPosition(0);
+}
+public double emperagecoral(){
+  return coral.getOutputCurrent();
+}
+public double emperagealgue(){
+  return algue1.getOutputCurrent();
 }
   @Override
   public void periodic() {