diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index e2edab8..cc4a6c6 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand; // Manette import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.command.Balayer; import frc.robot.command.GuiderBas; import frc.robot.command.GuiderHaut; // Subsystem @@ -32,8 +33,10 @@ public class RobotContainer { Grimpeur grimpeur = new Grimpeur(); Guideur guideur = new Guideur(); Lanceur lanceur = new Lanceur(); + Balayer balayer = new Balayer(balayeuse, accumulateur); GuiderHaut guiderHaut = new GuiderHaut(guideur); GuiderBas guiderBas = new GuiderBas(guideur); + CommandJoystick joystick = new CommandJoystick(0); CommandXboxController manette = new CommandXboxController(1); @@ -50,7 +53,7 @@ public class RobotContainer { private void configureBindings() { - + joystick.button(3).toggleOnTrue(balayer); } diff --git a/src/main/java/frc/robot/command/Lancerampli.java b/src/main/java/frc/robot/command/Lancerampli.java new file mode 100644 index 0000000..4e7aafb --- /dev/null +++ b/src/main/java/frc/robot/command/Lancerampli.java @@ -0,0 +1,46 @@ +// 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 com.revrobotics.CANSparkMax; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystem.Accumulateur; +import frc.robot.subsystem.Lanceur; + +public class Lancerampli extends Command { + /** Creates a new Lanceur. */ + + private Lanceur lancer; + private Lanceur lancer2; + private Lanceur lancer3; + private Lanceur lancer4; + public Lancerampli() { + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(lancer,lancer2,lancer3,lancer4); + } + + // 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() { + lancer.lancer(0.1); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + lancer.lancer(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +}