pratique-2025/src/main/java/frc/robot/Commands/Lancer.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.wpilibj2.command.Command;
import frc.robot.Subsystems.Lanceur;

public class Lancer extends Command {
  private Lanceur lanceur;
  /** Creates a new Lancer. */
  public Lancer(Lanceur lanceur) {
    this.lanceur = lanceur;
    addRequirements(lanceur);
    // 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.lance(0.5);
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    lanceur.lance(0);
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return false;
  }
}