Merge branch 'Dashboard'

src/main/java/frc/robot/commands/Force2.java

@@ -2,57 +2,42 @@
 // 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.
 
-// 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 frc.robot.subsystems.Accumulateur;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force2 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
 
-  public void Lancer(Lanceur lanceur) {
+  /** Creates a new Force1. */
+  public Force2(Lanceur lancer) {
     this.lanceur = lanceur;
-    this.accumulateur = accumulateur;
-    addRequirements(lanceur , accumulateur);
+    addRequirements(lanceur);
+    // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0,0,0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 200);
-      lanceur.lancer(200);
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
+    lanceur.lancer(500);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
-    }
+    lanceur.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
-}
+}