From 6687dc73eab4ced7299b52ba8949f12d4b98915c Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 23 Oct 2024 19:47:51 -0400
Subject: [PATCH] accumulateur

---
 .../java/frc/robot/Commands/Desaccumuler.java | 42 +++++++++++++++++++
 .../frc/robot/Subsystems/Accumulateur.java    |  4 +-
 2 files changed, 44 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc/robot/Commands/Desaccumuler.java

diff --git a/src/main/java/frc/robot/Commands/Desaccumuler.java b/src/main/java/frc/robot/Commands/Desaccumuler.java
new file mode 100644
index 0000000..30bedf2
--- /dev/null
+++ b/src/main/java/frc/robot/Commands/Desaccumuler.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.Accumulateur;
+
+public class Desaccumuler extends Command {
+  private Accumulateur accumulateur;
+  /** Creates a new Desaccumuler. */
+  public Desaccumuler(Accumulateur accumulateur){
+    this.accumulateur = accumulateur;
+    addRequirements(accumulateur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    accumulateur.resetencodeur();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    accumulateur.desaccumule(0.1);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+   accumulateur.desaccumule(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index a66dc0c..0f450c3 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -14,8 +14,8 @@ public class Accumulateur extends SubsystemBase {
   final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
   Encoder encoder = new Encoder(1,0);
-  public void encodeur(){
-    
+  public void resetencodeur(){
+    encoder.reset();
   }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);