mode oppose fait

2026-02-24 18:55:48 -05:00
parent 813a0976ad
commit b9cac9ee36
5 changed files with 10 additions and 27 deletions
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -29,7 +29,7 @@ public class Lancer extends Command {
    this.led = led;
    this.timer = new Timer();
    this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur);
+    addRequirements(lanceur, balayeuse, led, limeLight3G);
    this.temp = 0;
    // Use addRequirements() here to declare subsystem dependencies.
  }
@@ -62,6 +62,7 @@ public class Lancer extends Command {
    if(moyenneAmp > 30 && nbFois > 10){
      timer.reset();
      balayeuse.Balayer(0.5);
+      led.Jaune2();
    }
    else{
      double vitesse = (100-limeLight3G.getTA())/lanceur.Vitesse();