// 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.Pince; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.Bougie; 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 Algue_inspire extends Command { /** Creates a new Algue_inspire. */ private Pince pince; private Bougie bougie; public Algue_inspire(Pince pince, Bougie bougie) { this.pince = pince; this.bougie = bougie; addRequirements(pince, bougie); // 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. //ajouter l'amperage pour arreter les moteurs @Override public void execute() { if(pince.emperagealgue()>60){ pince.aspirealgue(0); bougie.Bleu(); } else{ pince.aspirealgue(0.5); } } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { pince.aspirealgue(0); } // Returns true when the command should end. @Override public boolean isFinished() { return false; } }