52 lines
1.6 KiB
Java
52 lines
1.6 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 edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import frc.robot.subsystems.Drive;
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public class Reculer extends CommandBase {
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private Drive drive;
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ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
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ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
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.getLayout("Reculer", BuiltInLayouts.kList)
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.withSize(1, 4)
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.withPosition(6,0);
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/** Creates a new Reculer. */
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public Reculer(Drive drive) {
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reculer.add("vitesse x", 1);
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reculer.add("vitesse y", 2);
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reculer.add("vitesse z", 3);
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reculer.add("distance", 4);
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this.drive = drive;
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addRequirements(drive);
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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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// 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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drive.drive(-0.5, -0.2, 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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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return drive.distance()[0].distanceMeters>1;
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}
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}
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