dashboard + limitswitchs tourel

src/main/java/frc/robot/Commands/FollowAprilTag.java

@@ -27,13 +27,16 @@ public class FollowAprilTag extends Command {
   @Override
   public void execute() {
 
-    
-    if (enlignement.getv()==1)  
+    if (lanceur.limitswitch1()){
+
+    }
+    else if(lanceur.limitswitch2()){
+      
+    }
+    else if (enlignement.getv()==1) 
     {
       lanceur.tourelRotation(0,0, enlignement.getx()/30);
     }
-    if (lanceur.limitswitch1() || lanceur.limitswitch2()){
-      lanceur.lance(0);}
     else
     {
       lanceur.tourelRotation(0, 0, 0);

src/main/java/frc/robot/Commands/Lancer.java

@@ -29,9 +29,6 @@ public class Lancer extends Command {
     lanceur.lance();
     accumulateur.Petitlanceur(0.7);
     accumulateur.desaccumule(0.2);
-    
-   
-   
   }
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/Commands/Tourel.java

@@ -0,0 +1,42 @@
+// 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 Tourel extends Command {
+  private Lanceur lanceur;
+  /** Creates a new Tourel. */
+  public Tourel(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(lanceur.limitswitch1()){
+     lanceur.touchagedelimitswitch1(0);
+    }
+    else if(lanceur.limitswitch2()){
+     lanceur.touchagedelimitswitch2(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}