Merge branch 'acum-commande'

src/main/java/frc/robot/Constants.java

@@ -3,16 +3,16 @@ package frc.robot;
 public class Constants {
 
     //Moteur
-        public static int lanceur = 2;
-        public static int avantdroitDrive = 18;
-        public static int avantdroitAngle = 19;
+        public static int lanceur = 0;
+        public static int avantdroitDrive = 17;
+        public static int avantdroitAngle = 18;
         public static int avantgaucheDrive = 0;
         public static int avantgaucheAngle = 1;
-        public static int arrieredroitDrive = 10;
-        public static int arrieredroitAngle = 11;
+        public static int arrieredroitDrive = 11;
+        public static int arrieredroitAngle = 12;
         public static int arrieregaucheDrive = 8;
         public static int arrieregaucheAngle = 9;
-        public static int accumulateur = 3;
+        public static int accumulateur = 9;
         
         //limit switch
             public static int ballon = 10;

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;
+  }
+}