From 50d481c2b6252ae156f75df5a42a815e5c57ba38 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 20 Feb 2023 20:00:18 -0500
Subject: [PATCH] dgnxfbv n

---
 .../robot/commands/bras/PivotChercheBas.java  | 59 +++++++++++++++++++
 .../robot/commands/bras/PivotChercheHaut.java | 59 +++++++++++++++++++
 2 files changed, 118 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/bras/PivotChercheBas.java
 create mode 100644 src/main/java/frc/robot/commands/bras/PivotChercheHaut.java

diff --git a/src/main/java/frc/robot/commands/bras/PivotChercheBas.java b/src/main/java/frc/robot/commands/bras/PivotChercheBas.java
new file mode 100644
index 0000000..33cc965
--- /dev/null
+++ b/src/main/java/frc/robot/commands/bras/PivotChercheBas.java
@@ -0,0 +1,59 @@
+// 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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotChercheBas extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotChercheBas. */
+  public PivotChercheBas(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+    }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java b/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
new file mode 100644
index 0000000..4288827
--- /dev/null
+++ b/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
@@ -0,0 +1,59 @@
+// 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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotChercheHaut extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotChercheHaut. */
+  public PivotChercheHaut(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}