lanceur base vitesse fait

src/main/java/frc/robot/RobotContainer.java

@@ -12,6 +12,7 @@ import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
 import frc.robot.commands.Lancer;
+import frc.robot.commands.LancerBaseVitesse;
 import frc.robot.commands.ModeOposer;
 import frc.robot.commands.MonterBalyeuse;
 import frc.robot.commands.MonterGrimpeur;
@@ -36,6 +37,7 @@ public class RobotContainer {
   private void configureBindings() {
     manette.a().whileTrue(new Lancer(lanceur,limeLight3,balayeuse,led));
     manette.y().whileTrue(new ModeOposer(lanceur, balayeuse));
+    manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3, balayeuse, led));
     manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));
     manette.leftTrigger().whileTrue(new DescendreGrimpeur(grimpeur));
     manette.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));

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

@@ -0,0 +1,91 @@
+// 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.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.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 Balayeuse balayeuse;
+  private Led led;
+  private double temp;
+  /** Creates a new Lancer. */
+  public LancerBaseVitesse(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
+    this.lanceur = lanceur;
+    this.balayeuse = balayeuse;
+    this.led = led;
+    this.timer = new Timer();
+    this.limeLight3G = new Limelight3G();
+    addRequirements(lanceur, balayeuse, led, limeLight3G);
+    this.temp = 0;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    pidController = new PIDController(0, 0,0, 0);
+    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{
+      double vitesse = 0.4;
+      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
+      lanceur.Lancer(output);
+      if(lanceur.Vitesse() >= vitesse){
+        lanceur.Demeler(0.5);
+      }
+    }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Demeler(0);
+    lanceur.Lancer(0);
+    balayeuse.Pivoter(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}