From 9303d6f87a672faebe642038c02b5fad0bbd290e Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 30 Jan 2024 19:52:21 -0500
Subject: [PATCH 1/2] vbj

---
 src/main/java/frc/robot/RobotContainer.java   |  5 +-
 .../java/frc/robot/command/Lancerampli.java   | 46 +++++++++++++++++++
 2 files changed, 49 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc/robot/command/Lancerampli.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7303389..452fe9d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -13,7 +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;
 // Subsystem
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -31,6 +31,7 @@ public class RobotContainer {
   Grimpeur grimpeur = new Grimpeur();
   Guideur guideur = new Guideur();
   Lanceur lanceur = new Lanceur();
+  Balayer balayer = new Balayer(balayeuse, accumulateur);
 
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
@@ -47,7 +48,7 @@ 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;
+  }
+}

From 442b537517acca468fd5c0e80b0c9069c6da7ac1 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 30 Jan 2024 19:53:18 -0500
Subject: [PATCH 2/2] k,

---
 src/main/java/frc/robot/RobotContainer.java | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e3fa430..cc4a6c6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -13,12 +13,9 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 // Manette
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-<<<<<<< HEAD
 import frc.robot.command.Balayer;
-=======
 import frc.robot.command.GuiderBas;
 import frc.robot.command.GuiderHaut;
->>>>>>> 33990971eb46b4232501c29b34451800e658504b
 // Subsystem
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -37,9 +34,9 @@ public class RobotContainer {
   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);