Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

src/main/java/frc/robot/RobotContainer.java

@@ -24,16 +24,8 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
-import frc.robot.commands.Algue1Test;
-import frc.robot.commands.Algue2Test;
-import frc.robot.commands.AlgueExpire;
-import frc.robot.commands.Algue_inspire;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
-import frc.robot.commands.CorailAspir;
-import frc.robot.commands.CorailTest;
-import frc.robot.commands.CoralAlgueInspire;
-import frc.robot.commands.CoralExpire;
 import frc.robot.commands.Depart;
 import frc.robot.commands.ElevateurManuel;
 import frc.robot.commands.Forme3;
@@ -45,6 +37,11 @@ import frc.robot.commands.PinceManuel2;
 import frc.robot.commands.RainBow;
 import frc.robot.commands.StationPince;
 import frc.robot.commands.reset;
+import frc.robot.commands.Pince.AlgueExpire;
+import frc.robot.commands.Pince.Algue_inspire;
+import frc.robot.commands.Pince.CorailAspir;
+import frc.robot.commands.Pince.CoralAlgueInspire;
+import frc.robot.commands.Pince.CoralExpire;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
@@ -100,20 +97,20 @@ public class RobotContainer {
  drivetrain.setDefaultCommand(
           // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
-            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
-              .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.10000)) // Drive left with negative X (left)
-              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
+            drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
+              .withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
         )
       );
     // Elevateur manuel
     drivetrain.registerTelemetry(logger::telemeterize);
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1));
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.1));
     }, elevateur));
 
     //Pince manuel
     pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
     }, pince));
      
     

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

@@ -28,9 +28,7 @@ public class ElevateurManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.limit2()==true){
-      elevateur.vitesse(0);
-    }
+    if (elevateur.limit2())
     elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
   }
 

src/main/java/frc/robot/commands/Pince/Algue1Test.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/Algue2Test.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/AlgueExpire.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;

src/main/java/frc/robot/commands/Pince/Algue_inspire.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/CorailAspir.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/CorailTest.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;

src/main/java/frc/robot/commands/Pince/CoralExpire.java

@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;