debug de samedi

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

@@ -12,58 +12,30 @@ import frc.robot.subsystems.Led;
 /* 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 Aspirer extends Command {
   private Balayeuse balayeuse;
-  private Timer timer;
-  private Led led;
-  private double temp;
   /** Creates a new Aspirer. */
-  public Aspirer(Balayeuse balayeuse, Led led) {
+  public Aspirer(Balayeuse balayeuse) {
     this.balayeuse = balayeuse;
-    this.led = led;
-    this.timer = new Timer();
-    addRequirements(balayeuse, led); 
-    this.temp = 0;
+    addRequirements(balayeuse); 
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    timer.reset();
-    temp = balayeuse.Amp();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    timer.start();
-    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 < balayeuse.AmpMax()){
-      timer.reset();
-      balayeuse.Balayer(-0.5);
-    }
-    else{
-        balayeuse.Balayer(0);
-        led.Jaune2();
-    }
-
+    balayeuse.BalayerEnbas(-0.5);
+    balayeuse.BalayerPadle(-0.2);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    balayeuse.Balayer(0);
-    timer.stop();
+    balayeuse.BalayerEnbas(0);
+    balayeuse.BalayerPadle(0);
   }
 
   // Returns true when the command should end.