// 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.Grimpeur; /* 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 GrimpeurBas extends Command { private Grimpeur grimpeur; /** Creates a new GrimpeurBas. */ public GrimpeurBas(Grimpeur grimpeur) { this.grimpeur = grimpeur; addRequirements(grimpeur); // 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(grimpeur.encodeur()>=500 && grimpeur.encodeur()<=510){ grimpeur.grimpe(0); } else if(grimpeur.encodeur()>=510){ grimpeur.grimpe(0.5); } else{grimpeur.grimpe(-0.5); } } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { grimpeur.grimpe(0); } // Returns true when the command should end. @Override public boolean isFinished() { return false; } }