rtdytyjhk

src/main/java/frc/robot/commands/Force2.java

@@ -4,15 +4,19 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Lanceur;
 
 public class Force2 extends CommandBase {
   private Lanceur lanceur;
+  private Accumulateur accumulateur;
 
   /** Creates a new Force1. */
-  public Force2(Lanceur lancer) {
+  public Force2(Lanceur lancer,Accumulateur accumulateur) {
     this.lanceur = lanceur;
+    this.accumulateur = accumulateur;
     addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -26,7 +30,13 @@ public class Force2 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(500);
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
   }
 
   // Called once the command ends or is interrupted.