ythjb

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

@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.Avancer;
 import frc.robot.commands.Lancer;
+import frc.robot.commands.LancerTest;
 import frc.robot.commands.Force2;
 import frc.robot.commands.Force3;
 import frc.robot.commands.Force4;
@@ -39,12 +40,12 @@ public class RobotContainer {
   .getLayout("forces", BuiltInLayouts.kList)
   .withSize(3, 7);
   GenericEntry force1 = forces.add("Force1", 2).getEntry();
-  GenericEntry force2 = forces.add("Force2", 0).getEntry();
+  GenericEntry force2 = forces.add("Force2", 4).getEntry();
-  GenericEntry force3 = forces.add("Force3", 0).getEntry();
+  GenericEntry force3 = forces.add("Force3", 6).getEntry();
-  GenericEntry force4 = forces.add("Force4", 0).getEntry();
+  GenericEntry force4 = forces.add("Force4", 8).getEntry();
-  GenericEntry force5 = forces.add("Force5", 0).getEntry();
+  GenericEntry force5 = forces.add("Force5", 10).getEntry();
-  GenericEntry force6 = forces.add("Force6", 0).getEntry();
+  GenericEntry force6 = forces.add("Force6", 12).getEntry();
-  GenericEntry force7 = forces.add("Force7", 0).getEntry();
+  GenericEntry force7 = forces.add("Force7", 14).getEntry();
 
   CommandXboxController manette = new CommandXboxController(0);
   CommandJoystick joystick1 = new CommandJoystick(0);
@@ -60,14 +61,16 @@ public class RobotContainer {
   private void configureBindings() {
 
   accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
-    joystick1.button(7).onTrue(new Lancer(lanceur, accumulateur, force1));
+  LancerTest lancertest = new LancerTest(lanceur);
-    joystick1.button(8).onTrue(new Lancer(lanceur, accumulateur, force2));
+   // joystick1.button(7).onTrue(new Lancer(lanceur, accumulateur, force1));
+   /* joystick1.button(8).onTrue(new Lancer(lanceur, accumulateur, force2));
     joystick1.button(9).onTrue(new Lancer(lanceur, accumulateur, force3));
     joystick1.button(10).onTrue(new Lancer(lanceur, accumulateur, force4));
     joystick1.button(11).onTrue(new Lancer(lanceur, accumulateur, force5)); 
-    joystick1.button(12).onTrue(new Lancer(lanceur, accumulateur, force6));
+    joystick1.button(12).onTrue(new Lancer(lanceur, accumulateur, force6));*/
-    joystick1.button(3).onTrue(new Lancer(lanceur, accumulateur, force7));
+   // joystick1.button(3).onTrue(new Lancer(lanceur, accumulateur, force7));
-    joystick1.button(5).toggleOnTrue(accumulateurtest);
+    joystick1.button(5).whileTrue(accumulateurtest);
+    joystick1.button(1).whileTrue(lancertest);
     
   }
  

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

@@ -28,7 +28,7 @@ public class Lancer extends ParallelCommandGroup {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(new Lancez(lanceur),
-    new SequentialCommandGroup(new WaitUntilCommand(()->lanceur.vitesse()>vitesse.getDouble(0)))
+    new SequentialCommandGroup(new WaitUntilCommand(()->lanceur.vitesse()>vitesse.getDouble(1)))
     ,new AccAvancer(accumulateur),new AccReculer(accumulateur));
   }
 }

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

@@ -0,0 +1,40 @@
+// 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.Lanceur;
+
+public class LancerTest extends CommandBase {
+  private Lanceur lanceur;
+  /** Creates a new LancerTest. */
+  public LancerTest(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    // 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() {
+    lanceur.lancer(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.lancer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}