mettre en 2026

src/main/java/frc/robot/commands/Lancer.java

@@ -7,9 +7,7 @@ package frc.robot.commands;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
 import frc.robot.subsystems.Limelight3G;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
@@ -18,15 +16,12 @@ public class Lancer extends Command {
   private PIDController pidController;
   private Limelight3G limeLight3G;
   private Timer timer;
-  private double temp;
   /** Creates a new Lancer. */
   public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
     this.lanceur = lanceur;
     this.timer = new Timer();
     this.limeLight3G = new Limelight3G();
     addRequirements(lanceur, limeLight3G);
-
-    this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -34,8 +29,7 @@ public class Lancer extends Command {
   @Override
   public void initialize() {
     pidController = new PIDController(0.0007, 0,0, 0.001);
-    timer.reset();
-    temp = lanceur.Amp();    
+    timer.reset();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.