From b6d2ffd931e8835027e94e5dd17662538abbc8f6 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 15:28:59 -0500
Subject: [PATCH] bas

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +
 .../java/frc/robot/commands/BalayeuseBas.java | 40 +++++++++++++++++++
 2 files changed, 42 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/BalayeuseBas.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3b0141c..36e2ee1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.BalayeuseAlgue;
+import frc.robot.commands.BalayeuseBas;
 import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
@@ -26,6 +27,7 @@ public class RobotContainer {
     manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
     manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
+    manette2.a().whileTrue(new BalayeuseBas(requin));
     manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
 
diff --git a/src/main/java/frc/robot/commands/BalayeuseBas.java b/src/main/java/frc/robot/commands/BalayeuseBas.java
new file mode 100644
index 0000000..6aefaeb
--- /dev/null
+++ b/src/main/java/frc/robot/commands/BalayeuseBas.java
@@ -0,0 +1,40 @@
+// 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 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() {
+  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;
+  }
+}