rdytfhgj

2023-12-02 09:30:18 -05:00
parent c26a26c577
commit 0e444784fc
2 changed files with 45 additions and 5 deletions
--- 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;
  }
 }