From 28782e915e1fdf1e8a75a6af74416694340d2751 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 25 Oct 2023 20:08:44 -0400
Subject: [PATCH] aCCUMULATEUR COMMANDE

---
 src/main/java/frc/robot/Constants.java        | 16 ++++-----
 .../java/frc/robot/commands/Deaccumuler.java  | 36 +++++++++++++++++++
 2 files changed, 44 insertions(+), 8 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/Deaccumuler.java

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1343530..88ff911 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -4,14 +4,14 @@ public class Constants {
 
     //Moteur
         public static int lanceur = 0;
-        public static int avantdroitDrive = 1;
-        public static int avantdroitAngle = 2;
-        public static int avantgaucheDrive = 3;
-        public static int avantgaucheAngle = 4;
-        public static int arrieredroitDrive = 5;
-        public static int arrieredroitAngle = 6;
-        public static int arrieregaucheDrive = 7;
-        public static int arrieregaucheAngle = 8;
+        public static int avantdroitDrive = 17;
+        public static int avantdroitAngle = 18;
+        public static int avantgaucheDrive = 0;
+        public static int avantgaucheAngle = 1;
+        public static int arrieredroitDrive = 11;
+        public static int arrieredroitAngle = 12;
+        public static int arrieregaucheDrive = 8;
+        public static int arrieregaucheAngle = 9;
         public static int accumulateur = 9;
         
         //limit switch
diff --git a/src/main/java/frc/robot/commands/Deaccumuler.java b/src/main/java/frc/robot/commands/Deaccumuler.java
new file mode 100644
index 0000000..4602e13
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Deaccumuler.java
@@ -0,0 +1,36 @@
+// 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() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    accumulateur.Deaccumuler(0.5);
+  }
+
+  // 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 false;
+  }
+}