This commit is contained in:
EdwardFaucher
2024-11-13 19:13:32 -05:00
parent c6017d60b4
commit a7a4c4ef31
2 changed files with 22 additions and 5 deletions

View File

@ -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 +26,10 @@ 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.desaccumule(0.2);
}
// Called once the command ends or is interrupted.
@Override