lanceur

src/main/java/frc/robot/Commands/Lancer.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 Lancer extends Command {
+  private Lanceur lanceur;
+  /** Creates a new 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() {
+    lanceur.setPID(0, 0, 0);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    lanceur.lance(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.lance(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/Subsystems/Lanceur.java

@@ -8,6 +8,9 @@ package frc.robot.Subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
@@ -15,7 +18,17 @@ public class Lanceur extends SubsystemBase {
   public Lanceur() {}
   
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
-  
+  final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
+  final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
+  public void lance(double vitesse){
+    lanceur1.set(vitesse);
+    lanceur2.set(-vitesse);
+  }
+  public void tourelRotation(double vitesse){
+    tourel.set(vitesse);
+  }
+  public void setPID(double p, double i, int d) {
+  }
   @Override
   public void periodic() {
     // This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run