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

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+// 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.Elevateur;
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+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 L2 extends Command {
+  private Elevateur elevateur;
+  private Pince pince;
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurelevateurbasL2").subscribe(-1);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurelevateurhautL2").subscribe(-0.9);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL2").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpinceautL2").subscribe(-0.9);
+  /** Creates a new L2. */
+  public L2(Elevateur elevateur,Pince pince) {
+    this.elevateur = elevateur;
+    this.pince = pince;
+    addRequirements(elevateur,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() {
+    double encodeurbase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
+    if(elevateur.position()<=encodeurbase && elevateur.position()>=-encodeurhaute){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=encodeurbase){
+      elevateur.vitesse(-0.2);
+    }
+    else{
+      elevateur.vitesse(.2);
+    // }
+    // if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+    //   pince.pivote(0);
+     
+    // }
+    // else if(pince.encodeurpivot()>=510){
+    //   pince.pivote(0.2);
+    // }
+    // else{
+    //   pince.pivote(-0.2);
+     }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}