encodeur acc

src/main/java/frc/robot/commands/Deaccumuler.java

@@ -16,7 +16,7 @@ public class Deaccumuler extends CommandBase {
   }
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {accumulateur.Reset();}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -31,6 +31,6 @@ public class Deaccumuler extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return (accumulateur.distance()< 1024);
   }
 }

src/main/java/frc/robot/commands/Reaccumuler.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 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);
+  }
+}