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samuel desharnais 2023-11-06 18:17:24 -05:00
parent 5eb83bf7e7
commit 1efb3f77c5
3 changed files with 0 additions and 95 deletions
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23
src/main/java/frc/robot/commands/Accumuler.java
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// 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 edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.subsystems.Accumulateur;
import frc.robot.subsystems.Lanceur;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class Accumuler extends SequentialCommandGroup {
public void Accumuler(Accumulateur accumulateur) {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());
addCommands(new Deaccumuler(accumulateur), new Reaccumuler(accumulateur));
}
}

36
src/main/java/frc/robot/commands/Deaccumuler.java
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// 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 edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Accumulateur;
public class Deaccumuler extends CommandBase {
private Accumulateur accumulateur;
/** Creates a new Lancer. */
public Deaccumuler(Accumulateur accumulateur) {
this.accumulateur = accumulateur;
addRequirements(accumulateur);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {accumulateur.Reset();}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return (accumulateur.distance()< 1024);
}
}

36
src/main/java/frc/robot/commands/Reaccumuler.java
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// 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 edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Accumulateur;
public class Reaccumuler extends CommandBase {
private Accumulateur accumulateur;
/** Creates a new Lancer. */
public Reaccumuler(Accumulateur accumulateur) {
this.accumulateur = accumulateur;
addRequirements(accumulateur);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {accumulateur.Reset();}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return (accumulateur.distance()< -256);
}
}