moyenne d'amps

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

@@ -14,12 +14,14 @@ 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) {
     this.balayeuse = balayeuse;
     this.led = led;
     this.timer = new Timer();
     addRequirements(balayeuse, led); 
+    this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,6 +29,7 @@ public class Aspirer extends Command {
   @Override
   public void initialize() {
     timer.reset();
+    temp = balayeuse.Amp();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -40,13 +43,16 @@ public class Aspirer extends Command {
       moyenneAmp += balayeuse.Amp() / nbFois;
     }
     else{
-      timer.reset();
+      nbFois++;
+      moyenneAmp -= temp;
+      moyenneAmp += balayeuse.Amp() / nbFois;
+      temp = balayeuse.Amp();
     }
     if(moyenneAmp < 40){
       timer.reset();
       balayeuse.Balayer(0.5);
     }
-    else if(moyenneAmp > 40){
+    else{
         balayeuse.Balayer(0);
         led.Jaune2();
     }