Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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);
 
   }
 

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;
+  }
+}