70 lines
1.8 KiB
Java
70 lines
1.8 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.requin;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.subsystems.Bougie;
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import frc.robot.subsystems.Requin;
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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 BalayeuseAlgue extends Command {
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private Requin requin;
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private Bougie bougie;
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/** Creates a new Balayeuse. */
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public BalayeuseAlgue(Requin requin, Bougie bougie) {
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this.requin = requin;
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this.bougie =bougie;
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addRequirements(requin,bougie);
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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(requin.amp()>=12){
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requin.xRequin = true;
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}
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if(requin.xRequin){
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bougie.Vert();
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requin.balaye(0);
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}
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else{
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requin.balaye(.2);
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}
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if(!requin.xRequin){
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if(requin.encodeur()>=700){
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requin.rotationer(-0.5);
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}
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else{
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requin.rotationer(0.5);
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}
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if(requin.encodeur()<=715 && requin.encodeur()>=670){
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requin.rotationer(0);
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}
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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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requin.rotationer(0);
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requin.balaye(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 false;
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}
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}
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