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aCCUMULATEUR COMMANDE

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This commit is contained in:
Olivier Dubois 2023-10-25 20:08:44 -04:00
parent d39e5291be
commit 28782e915e
2 changed files with 44 additions and 8 deletions
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16
src/main/java/frc/robot/Constants.java
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@ -4,14 +4,14 @@ public class Constants {
//Moteur //Moteur
public static int lanceur = 0; public static int lanceur = 0;
public static int avantdroitDrive = 1; public static int avantdroitDrive = 17;
public static int avantdroitAngle = 2; public static int avantdroitAngle = 18;
public static int avantgaucheDrive = 3; public static int avantgaucheDrive = 0;
public static int avantgaucheAngle = 4; public static int avantgaucheAngle = 1;
public static int arrieredroitDrive = 5; public static int arrieredroitDrive = 11;
public static int arrieredroitAngle = 6; public static int arrieredroitAngle = 12;
public static int arrieregaucheDrive = 7; public static int arrieregaucheDrive = 8;
public static int arrieregaucheAngle = 8; public static int arrieregaucheAngle = 9;
public static int accumulateur = 9; public static int accumulateur = 9;
//limit switch //limit switch

36
src/main/java/frc/robot/commands/Deaccumuler.java Normal file
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@ -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;
}
}