Balayer et debalayer + menage

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

@@ -13,11 +13,9 @@ public class Balayer extends Command {
   private Accumulateur accumulateur;
   /** Creates a new Balayer. */
   public Balayer(Balayeuse balayeuse, Accumulateur accumulateur) {
-    this.balayeuse = balayeuse;
-    addRequirements(balayeuse, accumulateur);
+    this.balayeuse = balayeuse; 
+    addRequirements(balayeuse, accumulateur);}
     // Use addRequirements() here to declare subsystem dependencies.
-  }
-
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {}
@@ -25,16 +23,26 @@ public class Balayer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    
+    if(accumulateur.limitswitch()){
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
   }
+  else{
+    balayeuse.balaye(0.6);
+    accumulateur.Accumuler(0.6);
+  }
+}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return accumulateur.limitswitch()==true;
   }
 }

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

@@ -0,0 +1,42 @@
+// 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.Balayeuse;
+
+public class Debalayer extends Command {
+  private Balayeuse balayeuse;
+  private Accumulateur accumulateur;
+  /** Creates a new Balayer. */
+  public Debalayer(Balayeuse balayeuse, Accumulateur accumulateur) {
+    this.balayeuse = balayeuse; 
+    addRequirements(balayeuse, 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() {
+    balayeuse.balaye(-0.6);
+    accumulateur.Accumuler(-0.6);
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}