mode oppose fait

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

@@ -0,0 +1,48 @@
+// 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.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+import frc.robot.subsystems.Lanceur;
+/* 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 ModeOposer extends Command {
+  private Lanceur lanceur;
+  private Balayeuse balayeuse;
+  /** Creates a new Lancer. */
+  public ModeOposer(Lanceur lanceur, Balayeuse balayeuse) {
+    this.lanceur = lanceur;
+    this.balayeuse = balayeuse;
+    addRequirements(lanceur ,balayeuse);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {  
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    lanceur.Lancer(-0.2);
+    lanceur.Demeler(-0.2);
+    balayeuse.Balayer(-0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Demeler(0);
+    lanceur.Lancer(0);
+    balayeuse.Balayer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}