From 0e444784fcf766fcdecce7437e5e563d59898ce0 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Sat, 2 Dec 2023 09:30:18 -0500
Subject: [PATCH] rdytfhgj

---
 src/main/java/frc/robot/commands/Force1.java | 14 +++++---
 vendordeps/PathplannerLib2023.json           | 36 ++++++++++++++++++++
 2 files changed, 45 insertions(+), 5 deletions(-)
 create mode 100644 vendordeps/PathplannerLib2023.json

diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java
index 8d4e567..eb3604a 100644
--- a/src/main/java/frc/robot/commands/Force1.java
+++ b/src/main/java/frc/robot/commands/Force1.java
@@ -37,11 +37,15 @@ public class Force1 extends CommandBase {
     double vitesse = (100);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
+       if(accumulateur.tourneavant()>1024) {
+        accumulateur.tournearriere();
       }
-  }
+    if(accumulateur.tournearriere()>-256){
+      accumulateur.stop();
+    }
+  }}
+      
+  
   
 
   // Called once the command ends or is interrupted.
@@ -53,6 +57,6 @@ public class Force1 extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return accumulateur.tournearriere()>-256;
   }
 }
diff --git a/vendordeps/PathplannerLib2023.json b/vendordeps/PathplannerLib2023.json
new file mode 100644
index 0000000..51cdc33
--- /dev/null
+++ b/vendordeps/PathplannerLib2023.json
@@ -0,0 +1,36 @@
+{
+    "fileName": "PathplannerLib2023.json",
+    "name": "PathplannerLib",
+    "version": "2023.4.4",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2023",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib2023.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2023.4.4"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2023.4.4",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena"
+            ]
+        }
+    ]
+}
\ No newline at end of file