32 lines
1.2 KiB
Java
32 lines
1.2 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 java.util.function.DoubleSupplier;
|
|
|
|
import edu.wpi.first.networktables.GenericEntry;
|
|
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
|
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
|
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
|
|
import frc.robot.subsystems.Accumulateur;
|
|
import frc.robot.subsystems.Lanceur;
|
|
|
|
public class Lancer extends ParallelCommandGroup {
|
|
private Lanceur lanceur;
|
|
private Accumulateur accumulateur;
|
|
|
|
/** Creates a new Force1. */
|
|
public Lancer(Lanceur lanceur,Accumulateur accumulateur,GenericEntry vitesse) {
|
|
this.lanceur = lanceur;
|
|
this.accumulateur = accumulateur;
|
|
|
|
// 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 AccAvancer(accumulateur),new AccReculer(accumulateur));
|
|
}
|
|
}
|