jgghdfn

src/main/java/frc/robot/commands/bras/PivotChercheBas.java

@@ -22,27 +22,29 @@ public class PivotChercheBas extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    brasTelescopique.fermer();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()<10){
-      brasTelescopique.AvanceRecule(0.5);
+    if(brasTelescopique.distance()>-17.5){
+      brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()>11) {
-    brasTelescopique.AvanceRecule(-0.5);
+  else if(brasTelescopique.distance()<-19.5) {
+    brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<10){
-      pivot.monteDescendre(0.5);
+    if (pivot.distance()<8.5){
+      pivot.monteDescendre(0.3);
     }
-    else if(pivot.distance()>11) {
-      pivot.monteDescendre(-0.5);
+    else if(pivot.distance()>10.5) {
+      pivot.monteDescendre(-0.3);
     }
     else{
       pivot.monteDescendre(0);
@@ -51,7 +53,11 @@ public class PivotChercheBas extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    brasTelescopique.AvanceRecule(0);
+    pivot.monteDescendre(0);
+    brasTelescopique.fermer();
+  }
 
   // Returns true when the command should end.
   @Override