From 5478bd7dc916999a8a2bfd895cea4e00f9c15780 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Tue, 23 Jan 2024 20:11:26 -0500
Subject: [PATCH]

---
 .../java/frc/robot/command/GuiderBas.java     | 45 +++++++++++++++++++
 .../java/frc/robot/command/GuiderHaut.java    | 45 +++++++++++++++++++
 2 files changed, 90 insertions(+)
 create mode 100644 src/main/java/frc/robot/command/GuiderBas.java
 create mode 100644 src/main/java/frc/robot/command/GuiderHaut.java

diff --git a/src/main/java/frc/robot/command/GuiderBas.java b/src/main/java/frc/robot/command/GuiderBas.java
new file mode 100644
index 0000000..a279897
--- /dev/null
+++ b/src/main/java/frc/robot/command/GuiderBas.java
@@ -0,0 +1,45 @@
+// 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.Guideur;
+
+public class GuiderBas extends Command {
+  private Guideur guideur;
+  /** Creates a new Guideur. */
+  public GuiderBas(Guideur guideur) {
+    this.guideur = guideur;
+    addRequirements(guideur);
+    // 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() {
+    if(guideur.bas()){
+      guideur.guider(0);
+    }
+    else{
+      guideur.guider(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    guideur.guider(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/GuiderHaut.java b/src/main/java/frc/robot/command/GuiderHaut.java
new file mode 100644
index 0000000..d431475
--- /dev/null
+++ b/src/main/java/frc/robot/command/GuiderHaut.java
@@ -0,0 +1,45 @@
+// 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.Guideur;
+
+public class GuiderHaut extends Command {
+  private Guideur guideur;
+  /** Creates a new GuiderHaut. */
+  public GuiderHaut() {
+    this.guideur = guideur;
+    addRequirements(guideur);
+    // 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() {
+    if(guideur.haut()){
+      guideur.guider(0);
+    }
+    else{
+      guideur.guider(-0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    guideur.guider(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}