mettre en 2026

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

@@ -5,25 +5,22 @@
 package frc.robot.commands;
 
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.LimeLight3;
-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 */
 public class LancerBaseVitesse extends Command {
   private Lanceur lanceur;
   private PIDController pidController;
-  private Limelight3G limeLight3G;
   private Timer timer;
-  private double temp;
+  double tempsDebut = 0;
   /** Creates a new Lancer. */
-  public LancerBaseVitesse(Lanceur lanceur, Limelight3G limeLight3G) {
+  public LancerBaseVitesse(Lanceur lanceur) {
     this.lanceur = lanceur;
    this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur, limeLight3G);
+    addRequirements(lanceur);
     //this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -34,38 +31,18 @@ public class LancerBaseVitesse extends Command {
     pidController = new PIDController(0.0007, 0,0, 0.001);
     timer.reset();
     timer.start();
-    //temp = lanceur.Amp();    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // int nbFois = 0;
-
-    // double moyenneAmp = 0;
-    // if(timer.get() < 3){
-    //   nbFois++;
-    //   moyenneAmp += balayeuse.Amp() / nbFois;
-    // }
-    // else{
-    //   nbFois++;
-    //   moyenneAmp -= temp;
-    //   moyenneAmp += balayeuse.Amp() / nbFois;
-    //   temp = balayeuse.Amp();
-    // }
-    // if(moyenneAmp > 30 && nbFois > 10){
-    //   timer.reset();
-    //   balayeuse.Balayer(0.5);
-    //   led.Jaune2();
-    // }
-    // else{
+    System.out.println(DriverStation.getMatchTime());
       double vitesse = lanceur.vitesseDemander();
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
-      if(timer.get() >1){
+      if(timer.get() > 1){
         lanceur.Demeler(1);
-      } 
-    // }
+       }
 
   }