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

@@ -4,15 +4,22 @@
 
 package frc.robot.commands.bras;
 
+import java.util.function.DoubleSupplier;
+
+
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.bras.BrasTelescopique;
 
 public class BrasManuel extends CommandBase {
   private BrasTelescopique brasTelescopique;
+  private DoubleSupplier doubleSupplier;
   /** Creates a new BrasManuel. */
-  public BrasManuel(BrasTelescopique brasTelescopique) {
+  public BrasManuel(BrasTelescopique brasTelescopique,DoubleSupplier doubleSupplier) {
     this.brasTelescopique = brasTelescopique;
+    this.doubleSupplier = doubleSupplier;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
   }
 
   // Called when the command is initially scheduled.
@@ -22,7 +29,7 @@ public class BrasManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    brasTelescopique.AvanceRecule(0.3);
+    brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
   }
 
   // Called once the command ends or is interrupted.

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

@@ -4,14 +4,18 @@
 
 package frc.robot.commands.bras;
 
+import java.util.function.DoubleSupplier;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.bras.Pivot;
 
 public class PivotManuel extends CommandBase {
   private Pivot pivot;
+  private DoubleSupplier doubleSupplier;
   /** Creates a new PivotManuel. */
-  public PivotManuel(Pivot pivot) {
+  public PivotManuel(Pivot pivot,double d) {
     this.pivot = pivot;
+      
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(pivot);
   }
@@ -23,7 +27,7 @@ public class PivotManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pivot.monteDescendre(0.3);
+    pivot.monteDescendre(doubleSupplier.getAsDouble());
   }
 
   // Called once the command ends or is interrupted.