59 lines
1.6 KiB
Java
59 lines
1.6 KiB
Java
// 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.networktables.GenericEntry;
|
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
|
import frc.robot.subsystems.Accumulateur;
|
|
import frc.robot.subsystems.Lanceur;
|
|
|
|
public class Force1 extends CommandBase {
|
|
private Lanceur lanceur;
|
|
private Accumulateur accumulateur;
|
|
GenericEntry force1;
|
|
|
|
/** Creates a new Force1. */
|
|
public Force1(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force1) {
|
|
this.lanceur = lanceur;
|
|
this.accumulateur = accumulateur;
|
|
addRequirements(lanceur, accumulateur);
|
|
this.force1 = force1;
|
|
// 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() {
|
|
lanceur.lancer(force1.getDouble(100));
|
|
double vitesse = (100);
|
|
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);
|
|
}
|
|
|
|
// Returns true when the command should end.
|
|
@Override
|
|
public boolean isFinished() {
|
|
return false;
|
|
}
|
|
}
|