65 lines
1.8 KiB
Java
65 lines
1.8 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands;
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import frc.robot.subsystems.Accumulateur;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import frc.robot.subsystems.Lanceur;
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public class Force6 extends CommandBase {
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private Lanceur lanceur;
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private Accumulateur accumulateur;
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public void Lancer(Lanceur lanceur) {
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this.lanceur = lanceur;
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this.accumulateur = accumulateur;
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addRequirements(lanceur , accumulateur);
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}
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GenericEntry force6;
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/** Creates a new Force1. */
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public Force6(Lanceur lanceur, GenericEntry force6) {
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this.lanceur = lanceur;
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addRequirements(lanceur);
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this.force6 = force6;
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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lanceur.setPID(0, 0, 0);
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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double vitesse = SmartDashboard.getNumber("Force Lanceur", 600);
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lanceur.lancer(200);
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if (lanceur.vitesse() > vitesse ){
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accumulateur.tourneavant();
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accumulateur.tournearriere();
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} else {
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accumulateur.stop();
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}
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lanceur.lancer(force6.getDouble(0));
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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lanceur.stop();
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accumulateur.stop();
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return lanceur.distance()>1;
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}
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} |