pince mieux

src/main/java/frc/robot/RobotContainer.java

@@ -48,7 +48,7 @@ public class RobotContainer {
     manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
     //manette2
     manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
-    manette2.a().whileTrue(new StationPince(pince));
+    manette2.a().whileTrue(new StationPince(pince,elevateur));
   }
 
   public Command getAutonomousCommand() {

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

@@ -5,15 +5,18 @@
 package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
 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 StationPince extends Command {
   private Pince pince;
+  private Elevateur elevateur;
   /** Creates a new L2Pince. */
-  public StationPince(Pince pince) {
+  public StationPince(Pince pince,Elevateur elevateur) {
+    this.elevateur = elevateur;
     this.pince = pince;
-    addRequirements(pince);
+    addRequirements(pince,elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,6 +36,15 @@ public class StationPince extends Command {
     else{
       pince.pivote(0.5);
     }
+    if(elevateur.position()>=400 && elevateur.position()<=410){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=510){
+      elevateur.vitesse(-0.3);
+    }
+    else{
+      elevateur.vitesse(.3);
+    }
   }
 
   // Called once the command ends or is interrupted.