From 0fdfa4269d0ab9efff2fe29047013c8ad6a50fa8 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 18:54:42 -0500
Subject: [PATCH] elevateurise mieux

---
 src/main/java/frc/robot/command/L2.java | 8 ++++++--
 src/main/java/frc/robot/command/L3.java | 7 +++++--
 src/main/java/frc/robot/command/L4.java | 5 ++++-
 3 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/command/L2.java
index 36c6522..8f7287a 100644
--- a/src/main/java/frc/robot/command/L2.java
+++ b/src/main/java/frc/robot/command/L2.java
@@ -24,12 +24,16 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=500){
+    if(elevateur.position()>=500 && elevateur.position()<=510){
       elevateur.vitesse(0);
     }
+    else if(elevateur.position()>=510){
+      elevateur.vitesse(-0.3);
+    }
     else{
       elevateur.vitesse(.3);
     }
+
   }
 
   // Called once the command ends or is interrupted.
@@ -41,6 +45,6 @@ public class L2 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position()>=500;
+    return false;
   }
 }
diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/command/L3.java
index 92dfd18..8974af4 100644
--- a/src/main/java/frc/robot/command/L3.java
+++ b/src/main/java/frc/robot/command/L3.java
@@ -24,9 +24,12 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=700){
+    if(elevateur.position()>=700 && elevateur.position()<=710){
       elevateur.vitesse(0);
     }
+    else if(elevateur.position()>=510){
+      elevateur.vitesse(-0.5);
+    }
     else{
       elevateur.vitesse(.5);
     }
@@ -41,6 +44,6 @@ public class L3 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position()>=700;
+    return false;
   }
 }
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
index df01def..a688516 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/command/L4.java
@@ -24,9 +24,12 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=800){
+    if(elevateur.position()>=800 && elevateur.position()<=810){
       elevateur.vitesse(0);
     }
+    else if(elevateur.position()>=810){
+      elevateur.vitesse(-0.5);
+    }
     else{
       elevateur.vitesse(.5);
     }