From abb6d113d08120bee5a5c6b4ba23c0ff1c6c6a70 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 26 Feb 2025 18:39:59 -0500
Subject: [PATCH] ajout exspire

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +
 .../frc/robot/commands/BalayeuseHaut.java     |  2 +-
 src/main/java/frc/robot/commands/aspire.java  |  2 +-
 src/main/java/frc/robot/commands/exspire.java | 41 +++++++++++++++++++
 4 files changed, 45 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/exspire.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4ecaa11..62a8a21 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,6 +15,7 @@ import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
 import frc.robot.commands.aspire;
+import frc.robot.commands.exspire;
 import frc.robot.commands.requin_manuel;
 import frc.robot.subsystems.Requin;
 import frc.robot.subsystems.Bougie;
@@ -35,6 +36,7 @@ requin_manuel requin_manuel = new requin_manuel(requin);
 
   private void configureBindings() {
     manette2.a().whileTrue(new aspire(requin));
+    manette2.rightTrigger().whileTrue(new exspire(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/BalayeuseHaut.java b/src/main/java/frc/robot/commands/BalayeuseHaut.java
index ee25627..5bf884f 100644
--- a/src/main/java/frc/robot/commands/BalayeuseHaut.java
+++ b/src/main/java/frc/robot/commands/BalayeuseHaut.java
@@ -29,7 +29,7 @@ public class BalayeuseHaut extends Command {
       requin.reset();
     }
     else{
-      requin.rotationer(0.5);
+      requin.rotationer(-0.5);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/aspire.java
index c7f7a42..96ce671 100644
--- a/src/main/java/frc/robot/commands/aspire.java
+++ b/src/main/java/frc/robot/commands/aspire.java
@@ -24,7 +24,7 @@ public class aspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.5);
+    requin.balaye(0.3);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/exspire.java b/src/main/java/frc/robot/commands/exspire.java
new file mode 100644
index 0000000..5229cc9
--- /dev/null
+++ b/src/main/java/frc/robot/commands/exspire.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 exspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public exspire(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(-0.3);
+  }
+
+  // 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;
+  }
+}