Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

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

@@ -16,12 +16,12 @@ 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
   public void execute() {
-    accumulateur.Deaccumuler(0.5);
+    
   }
 
   // Called once the command ends or is interrupted.
@@ -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/Lancer.java

@@ -19,15 +19,22 @@ public class Lancer extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+
+    lanceur.setPID(0, 0, 0);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+
+    lanceur.lancer(0);
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    lanceur.lancer(0);  }
 
   // Returns true when the command should end.
   @Override

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

@@ -0,0 +1,26 @@
+// 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.SequentialCommandGroup;
+import frc.robot.subsystems.Accumulateur;
+import frc.robot.subsystems.Lanceur;
+
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class Lancez extends SequentialCommandGroup {
+  
+  public Lancez(Lanceur lanceur, Accumulateur accumulateur) {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(new Lancer(lanceur), new Deaccumuler(accumulateur), new Reaccumuler(accumulateur));
+
+  }
+
+
+public Lancez(Lancez lancez){}
+}

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);
+  }
+}

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

@@ -18,8 +18,8 @@ public class Accumulateur extends SubsystemBase {
   public Accumulateur() {
     
   }
-  public void Deaccumuler(double vitesse){
+  public void Deaccumuler(){
-    moteuracc.set(vitesse);
+    moteuracc.set(0.5);
   }
   
    public boolean limit(){

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

@@ -29,8 +29,15 @@ public class Lanceur extends SubsystemBase {
   
     }
 
+    public void stop() {
+      
+    }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
+
+  public void setPID(double d, double e, int i) {
+  }
 }