lanceur

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

@@ -5,24 +5,34 @@
 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() {
+  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() {}
+  public void initialize() {
+    lanceur.setPID(0, 0, 0);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    lanceur.lance(0.5);
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    lanceur.lance(0);
+  }
 
   // Returns true when the command should end.
   @Override