59 lines
1.6 KiB
Java
59 lines
1.6 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands.Elevateur;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.subsystems.Elevateur;
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import frc.robot.subsystems.Pince;
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/* 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 */
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public class Depart extends Command {
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private Elevateur elevateur;
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private Pince pince;
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/** Creates a new L2. */
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public Depart(Elevateur elevateur, Pince pince) {
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this.elevateur = elevateur;
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this.pince = pince;
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addRequirements(elevateur, pince);
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(pince.position()){
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pince.pivote(0);
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pince.reset();
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}
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else{
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pince.pivote(-0.2);
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}
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if(elevateur.limit2()==true){
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elevateur.vitesse(0);
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elevateur.reset();
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}
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else{
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elevateur.vitesse(.5);
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}
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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elevateur.vitesse(0);
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pince.pivote(0);
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return elevateur.limit2() == true;
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}
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}
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