lanceur

src/main/java/frc/robot/commands/LancerBaseVitesse.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.LimeLight3;
 import frc.robot.subsystems.Limelight3G;
 
@@ -19,28 +17,24 @@ public class LancerBaseVitesse extends Command {
   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) {
+  public LancerBaseVitesse(Lanceur lanceur, LimeLight3 limeLight3) {
     this.lanceur = lanceur;
-    this.balayeuse = balayeuse;
-    this.led = led;
-    this.timer = new Timer();
+   // this.timer = new Timer();
     this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur, balayeuse, led, limeLight3G);
-    this.temp = 0;
+    addRequirements(lanceur, 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(1, 0,0, 0);
-    timer.reset();
-    timer.start();
-    temp = lanceur.Amp();    
+    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.
@@ -65,10 +59,10 @@ public class LancerBaseVitesse extends Command {
     //   led.Jaune2();
     // }
     // else{
-      double vitesse = 0.4;
+      double vitesse = lanceur.vitesseDemander();
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse){
+      if(lanceur.Vitesse() >= 1200){
         lanceur.Demeler(0.5);
       }
     // }
@@ -80,7 +74,6 @@ public class LancerBaseVitesse extends Command {
   public void end(boolean interrupted) {
     lanceur.Demeler(0);
     lanceur.Lancer(0);
-    balayeuse.Pivoter(0);
   }
 
   // Returns true when the command should end.