Code composante fini

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

@@ -4,28 +4,37 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
+import frc.robot.subsystems.LimeLight3;
 
 /* 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 Lancer extends Command {
-  Lanceur lanceur;
+  private Lanceur lanceur;
+  private PIDController pidController;
+  private LimeLight3 limeLight3;
+  private double output;
   /** Creates a new Lancer. */
-  public Lancer(Lanceur lanceur) {
+  public Lancer(Lanceur lanceur, LimeLight3 limeLight3) {
     this.lanceur = lanceur;
+    this.limeLight3 = new LimeLight3();
     addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    pidController = new PIDController(0, 0,0, 0);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = 0.8;
-    lanceur.Lancer(vitesse);
+    double vitesse = (100-limeLight3.getTA())/100;
+    double output = pidController.calculate(lanceur.Vitesse(),vitesse);
+    lanceur.Lancer(output);
     if(lanceur.Vitesse() >= vitesse){
       lanceur.Demeler(0.5);
     }