Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025

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

@@ -27,10 +27,13 @@ public class FollowAprilTag extends Command {
   @Override
   public void execute() {
 
+    
     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

@@ -4,14 +4,18 @@
 
 package frc.robot.Commands;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Subsystems.Accumulateur;
 import frc.robot.Subsystems.Lanceur;
 
 public class Lancer extends Command {
   private Lanceur lanceur;
+  private Accumulateur accumulateur;
   /** Creates a new Lancer. */
-  public Lancer(Lanceur lanceur) {
+  public Lancer(Lanceur lanceur,Accumulateur accumulateur) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
+    this.accumulateur = accumulateur;
+    addRequirements(lanceur, accumulateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
   // Called when the command is initially scheduled.
@@ -22,7 +26,12 @@ public class Lancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lance(0.5);
+    lanceur.lance();
+    accumulateur.Petitlanceur(0.7);
+    accumulateur.desaccumule(0.2);
+    
+   
+   
   }
   // Called once the command ends or is interrupted.
   @Override