// 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 frc.robot.subsystems.Accumulateur;


import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Lanceur;

public class Force4 extends CommandBase {

  private Lanceur lanceur;
  private Accumulateur accumulateur;
  GenericEntry force4;
  
  /** Creates a new Force1. */
  public Force4(Lanceur lanceur,GenericEntry force4, Accumulateur accumulateur) {
    this.lanceur = lanceur;
    addRequirements(lanceur, accumulateur);
    this.force4 = force4; 
    this.accumulateur = accumulateur;
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    lanceur.setPID(0, 0, 0);
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double vitesse = (400);
      lanceur.lancer(force4.getDouble(400));
    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.stop();
    accumulateur.stop();
    }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return lanceur.distance()>1;
  }
}