From 1d6fe9fc3c53269fd64970462316ba91023dd2b4 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Thu, 25 Jan 2024 20:06:27 -0500
Subject: [PATCH] Lancer

---
 src/main/java/frc/robot/command/Lancer.java    | 18 ++++++++++++++++--
 .../java/frc/robot/subsystem/Accumulateur.java | 12 +++++++++---
 src/main/java/frc/robot/subsystem/Lanceur.java | 10 +++++-----
 3 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/command/Lancer.java b/src/main/java/frc/robot/command/Lancer.java
index feea8c0..804f019 100644
--- a/src/main/java/frc/robot/command/Lancer.java
+++ b/src/main/java/frc/robot/command/Lancer.java
@@ -4,12 +4,22 @@
 
 package frc.robot.command;
 
+import com.revrobotics.CANSparkMax;
+
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Accumulateur;
+import frc.robot.subsystem.Lanceur;
 
 public class Lancer extends Command {
   /** Creates a new Lanceur. */
+
+  private Lanceur lancer;
+  private Lanceur lancer2;
+  private Lanceur lancer3;
+  private Lanceur lancer4;
   public Lancer() {
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(lancer,lancer2,lancer3,lancer4);
   }
 
   // Called when the command is initially scheduled.
@@ -18,11 +28,15 @@ public class Lancer extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    lancer.lancer(0.3);
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    lancer.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index 9c51357..2ae3c97 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -9,14 +9,18 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 
 public class Accumulateur extends SubsystemBase {
   /** Creates a new Accumulateur. */
  
-
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
-  final DigitalInput limitacc = new DigitalInput(Constants.limitacc);  
+  final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
+    
   public void Deaccumuler(double vitesse){  
     Moteuracc2.set(vitesse);
   }
@@ -27,7 +31,9 @@ public class Accumulateur extends SubsystemBase {
   public boolean limitswitch(){
     return limitacc.get();
   }
-  public Accumulateur() {}
+  public Accumulateur() {
+    dashboard.addBoolean("limitacc", this::limitswitch);
+  }
   public void Accumuler(double vitesse){
     Moteuracc.set(vitesse);
     Moteuracc2.set(vitesse);
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index 260f263..7ae2c2c 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -18,13 +18,13 @@ public class Lanceur extends SubsystemBase {
   public Lanceur() {}
   final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
   final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
-  final CANSparkMax lancer3 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
-  final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
+  final CANSparkMax lancer3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
+  final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless);
 
-    public void lancer(double vitesse){
-      lancer.set(vitesse);
+  public void lancer(double vitesse){
+    lancer.set(vitesse);
   }
-  public void lanceur(){
+    public void lanceur(){
     lancer2.follow(lancer);
     lancer3.follow(lancer);
     lancer4.follow(lancer);