samuel lanceur

src/main/java/frc/robot/command/LancerNote.java

@@ -0,0 +1,44 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Accumulateur;
+import frc.robot.subsystem.Lanceur;
+
+public class LancerNote extends Command {
+  private Lanceur lancer;
+  private Accumulateur accumulateur;
+  /** Creates a new LancerNote. */
+  public LancerNote(Lanceur lancer, Accumulateur accumulateur) {
+    this.lancer = lancer;
+    this.accumulateur = accumulateur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // 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() {
+    double vitesse = 100;
+    lancer.lancer(vitesse);
+    if(lancer.vitesse(vitesse)>vitesse){
+      accumulateur.Accumuler(0.6);
+    }
+  }
+
+  // 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;
+  }
+}