touche, amperage, distance

src/main/java/frc/robot/commands/Elevateur/Depart.java

@@ -11,10 +11,12 @@ import frc.robot.subsystems.Pince;
 /* 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 Depart extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
   public Depart(Elevateur elevateur, Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur, pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -25,20 +27,27 @@ public class Depart extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(pince.position()){
+      pince.pivote(0);
+      pince.reset();
+    }
+    else{
+      pince.pivote(-0.2);
+    }
     if(elevateur.limit2()==true){
       elevateur.vitesse(0);
       elevateur.reset();
     }
     else{
-      elevateur.vitesse(.3);
+      elevateur.vitesse(.5);
     }
-    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Elevateur/L2.java

@@ -26,11 +26,11 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(pince.encodeurpivot()>=15.6 && pince.encodeurpivot()<=16){
+     if(pince.encodeurpivot()>=16 && pince.encodeurpivot()<=17){
        pince.pivote(0);
      
      }
-     else if(pince.encodeurpivot()>=16){
+     else if(pince.encodeurpivot()>=17){
        pince.pivote(-0.1);
      }
      else{

src/main/java/frc/robot/commands/Elevateur/L3.java

@@ -30,22 +30,23 @@ public class L3 extends Command {
   public void execute() {
     if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
       elevateur.vitesse(0);
-    }
+        pince.pivote(-0.15);
+        if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
+          pince.pivote(0);
+        }
+        else if(pince.encodeurpivot()>=20){
+          pince.pivote(-0.15);
+        }
+        else{
+          pince.pivote(0.15);
+        }
+  }
     else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
-      elevateur.vitesse(-0.5);
+      elevateur.vitesse(-0.7);
     }
     else{
-      elevateur.vitesse(0.5);
+      elevateur.vitesse(0.25);
     }
-     if(pince.encodeurpivot()>=15.6 && pince.encodeurpivot()<=16){
-       pince.pivote(0);
-     }
-     else if(pince.encodeurpivot()>=16){
-       pince.pivote(-0.1);
-     }
-     else{
-       pince.pivote(0.1);
-     }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Elevateur/L4.java

@@ -28,24 +28,24 @@ public class L4 extends Command {
   @Override
   public void execute() {
     if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
-      elevateur.vitesse(0);
-      
+      elevateur.vitesse(0); 
+      pince.pivote(-0.1);
+      if(pince.encodeurpivot()>=22 && pince.encodeurpivot()<=23){
+        pince.pivote(0);
+      }
+      else if(pince.encodeurpivot()>=22){
+        pince.pivote(-0.15);
+      }
+      else{
+        pince.pivote(0.15);
+      }
     }
     else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
-      elevateur.vitesse(-0.5);
+      elevateur.vitesse(-0.7);
     }
     else{
-      elevateur.vitesse(.5);
+      elevateur.vitesse(.25);
     }
-     if(pince.encodeurpivot()>=21.76 && pince.encodeurpivot()<=22.3){
-       pince.pivote(0);
-     }
-     else if(pince.encodeurpivot()>=22.3){
-       pince.pivote(-0.1);
-     }
-     else{
-       pince.pivote(0.1);
-     }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Elevateur/StationPince.java

@@ -28,26 +28,37 @@ public class StationPince extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral() > 60){
-      pince.aspirecoral(0);bougie.Bleu();
-    }
-    else{
-      pince.aspirecoral(0.5);
-    }
     
-    if(pince.encodeurpivot()<=11 && pince.encodeurpivot()>=12.6){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=9.8){
-      pince.pivote(-0.1);
+    if(pince.emperagecoral() >= 12){     
+      pince.x = true;
     }
+    if(pince.x){
+      pince.aspirecoral(0);
+      bougie.Bleu();
+      pince.pivote(-0.2);
+      if(pince.position()){
+        pince.pivote(0);
+      }
+     }
     else{
-      pince.pivote(0.1);
+      pince.aspirecoral(0.1);
+    }
+    if (!pince.x){
+      if(pince.encodeurpivot()>=10.5 && pince.encodeurpivot()<=11.5){
+        pince.pivote(0);
+      }
+      else if(pince.encodeurpivot()>=11){
+        pince.pivote(-0.1);
+      }
+      else{
+        pince.pivote(0.1);
+      }
     }
   }
 
@@ -56,6 +67,7 @@ public class StationPince extends Command {
   public void end(boolean interrupted) {
     pince.pivote(0);
     pince.aspirecoral(0);
+    pince.x =false;
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Elevateur/balonL2.java

@@ -0,0 +1,49 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.subsystems.Elevateur;
+/* 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 balonL2 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public balonL2(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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() {
+    if(elevateur.position()<=-2 && elevateur.position()>=-2.2){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>= -1.95){
+      elevateur.vitesse(-0.7);
+    }
+    else{
+      elevateur.vitesse(0.25);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Elevateur/balonL3.java

@@ -0,0 +1,49 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.subsystems.Elevateur;
+/* 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 balonL3 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public balonL3(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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() {
+    if(elevateur.position()<=-4 && elevateur.position()>=-4.1){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>= -4){
+      elevateur.vitesse(-0.7);
+    }
+    else{
+      elevateur.vitesse(0.25);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Limelight/AprilTag3G.java

@@ -49,8 +49,8 @@ public class AprilTag3G extends Command {
     if(limelight3g.getV() == true){
       drivetrain.setControl(drive.
       withRotationalRate(-a/7).
-      withVelocityX(x.getAsDouble()).
-      withVelocityY(y.getAsDouble()));  
+      withVelocityY(x.getAsDouble()).
+      withVelocityX(-y.getAsDouble()));  
        System.out.println(a/7);
     }
     else{
@@ -73,6 +73,6 @@ public class AprilTag3G extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return limelight3g.getX()<1 && limelight3g.getX()>-1;
+    return false;
   }
 }

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

@@ -37,7 +37,6 @@ public class Algue_inspire extends Command {
     }
     else{
       pince.aspirealgue(0.5);
-      
     }
   }
 

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

@@ -29,7 +29,7 @@ public class DepartPince extends Command {
       pince.reset();
     }
     else{
-      pince.pivote(.2);
+      pince.pivote(-0.2);
     }
   }
 

src/main/java/frc/robot/commands/requin/BalayeuseBas.java

@@ -24,7 +24,7 @@ public class BalayeuseBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  requin.rotationer(0.5);
+  requin.rotationer(0.2);
   }
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/commands/requin/BalayeuseCoral.java

@@ -29,28 +29,26 @@ public class BalayeuseCoral extends Command {
   public void execute() {
      if(requin.encodeur()<=1200 &&  requin.encodeur()>=1025){
        requin.rotationer(0);
-      if(requin.amp()>60){
-      requin.balaye(0);
-       bougie.Vert();
-       if(requin.enHaut()){
-        requin.rotationer(0);
-       }
-        else{
-          requin.rotationer(-0.5);
-        }
-    }
-     else{
+      if(requin.amp()>=12){
+        requin.xRequin = true;
+      }
+      if(requin.xRequin){
+        requin.balaye(0);
+        bougie.Vert();
+      }
+      else{
        requin.balaye(0.5);
-     }
-     }
-     else if(requin.encodeur()>=1200){
-     requin.rotationer(-0.5);
-     }
-     else{
-       requin.rotationer(0.5);
-     }
-    
-  }
+      }
+      }
+      if (!requin.xRequin) {
+        if(requin.encodeur()>=1200){
+          requin.rotationer(-0.5);
+          }
+          else{
+            requin.rotationer(0.5);
+          }
+      }
+    }
 
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/commands/requin/exspire.java

@@ -29,7 +29,14 @@ public class exspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-   requin.balaye(0.5);
+   if(requin.amp()> 15)
+   {
+    requin.balaye(0.5);
+   }
+   else{
+    bougie.Rouge();
+    requin.balaye(0.5);
+   }
   }
 
   // Called once the command ends or is interrupted.