Changer Force 1 a 7

src/main/java/frc/robot/commands/Force4.java

@@ -3,41 +3,52 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-
+import frc.robot.subsystems.Accumulateur;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force4 extends CommandBase {
-  private Lanceur lanceur;
 
-  /** Creates a new Force1. */
-  public Force4(Lancer lancer) {
+  private Lanceur lanceur;
+  private Accumulateur accumulateur;
+
+  public void Lancer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur , accumulateur);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0,0,0);
+    lanceur.setPID(0, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(500);
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 400);
+      lanceur.lancer(200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
+      
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.lancer(0);
-  }
+    lanceur.stop();
+    accumulateur.stop();
+    }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
-}
+}