tesdrfhgjbn

src/main/java/frc/robot/RobotContainer.java

@@ -14,6 +14,11 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc.robot.commands.Avancer;
+import frc.robot.commands.Force1;
+import frc.robot.commands.Force6;
+import frc.robot.commands.Force7;
+import frc.robot.commands.Reculer;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Lanceur;
@@ -21,6 +26,9 @@ import frc.robot.subsystems.Lanceur;
 public class RobotContainer {
   Lanceur lanceur = new Lanceur();
   Accumulateur accumulateur = new Accumulateur();
+  Force7 Force7 = new Force7(lanceur, null, accumulateur);
+  
+  Force1 Force1 = new Force1(lanceur, accumulateur, null);
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
   .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
@@ -54,6 +62,7 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-    return new SequentialCommandGroup(null);
+    return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
+    , new Force1(lanceur, accumulateur, force1), new Reculer(drive));
   }
 }

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

@@ -11,6 +11,8 @@ public class Avancer extends CommandBase {
   private Drive drive;
   /** Creates a new Avancer. */
   public Avancer(Drive drive) {
+    this.drive = drive;
+    addRequirements(drive);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

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

@@ -0,0 +1,38 @@
+// 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.Drive;
+
+public class Reculer extends CommandBase {
+  private Drive drive;
+  /** Creates a new Reculer. */
+  public Reculer(Drive drive) {
+    this.drive = drive;
+    addRequirements(drive);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // 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() {
+    drive.drive(-0.5, -0.2, 0); 
+  }
+
+  // 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;
+  }
+}

src/main/java/frc/robot/subsystems/Drive.java

@@ -30,8 +30,9 @@ public class Drive extends SubsystemBase {
       e.printStackTrace();
     }
   }
-  public void reset(){
-  }
+ /*  public double distance(){
+    return 
+  }*/
   @Override
   public void periodic() {
     // This method will be called once per scheduler run