35 lines
1.4 KiB
Java
35 lines
1.4 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 java.util.function.DoubleSupplier;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
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import frc.robot.subsystems.Accumulateur;
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import frc.robot.subsystems.Lanceur;
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// NOTE: Consider using this command inline, rather than writing a subclass. For more
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// information, see:
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// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
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public class Lancer extends ParallelCommandGroup {
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private Lanceur lanceur;
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private Accumulateur accumulateur;
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/** Creates a new Force1. */
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public Lancer(Lanceur lanceur,Accumulateur accumulateur,GenericEntry vitesse) {
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this.lanceur = lanceur;
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this.accumulateur = accumulateur;
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// Add your commands in the addCommands() call, e.g.
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// addCommands(new FooCommand(), new BarCommand());
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addCommands(new Lancez(lanceur),
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new SequentialCommandGroup(new WaitUntilCommand(()->lanceur.vitesse()>vitesse.getDouble(0)))
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,new AccAvancer(accumulateur),new AccReculer(accumulateur));
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}
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}
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