From bff426ef0f92087d819b690ab0fa11abf94b5a43 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 18:29:17 -0500
Subject: [PATCH] v

---
 .../java/frc/robot/commands/BalayeuseBas.java | 53 +++++++++++++++++++
 .../frc/robot/commands/BalayeuseHaut.java     | 46 ++++++++++++++++
 src/main/java/frc/robot/commands/L1.java      | 41 ++++++++++++++
 3 files changed, 140 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/BalayeuseBas.java
 create mode 100644 src/main/java/frc/robot/commands/BalayeuseHaut.java
 create mode 100644 src/main/java/frc/robot/commands/L1.java

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..38cdf70
--- /dev/null
+++ b/src/main/java/frc/robot/commands/BalayeuseBas.java
@@ -0,0 +1,53 @@
+// 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() {
+    if(requin.enBas()==true){
+      requin.rotationer(0);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    if(requin.stop()){
+      requin.balaye(0);
+    }
+    else{
+      requin.balaye(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/BalayeuseHaut.java b/src/main/java/frc/robot/commands/BalayeuseHaut.java
new file mode 100644
index 0000000..045722a
--- /dev/null
+++ b/src/main/java/frc/robot/commands/BalayeuseHaut.java
@@ -0,0 +1,46 @@
+// 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 BalayeuseHaut extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseHaut(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() {
+    if(requin.enHaut()==true){
+      requin.rotationer(0);
+    }
+    else{
+      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;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/L1.java b/src/main/java/frc/robot/commands/L1.java
new file mode 100644
index 0000000..388f67e
--- /dev/null
+++ b/src/main/java/frc/robot/commands/L1.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 L1 extends Command {
+  private Requin requin;
+  /** Creates a new L1. */
+  public L1(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.balaye(-0.5);
+  }
+
+  // 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;
+  }
+}