Limit swich elevateur + limit switch pince (testé en simulation-Fonctionne)

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

@@ -133,7 +133,7 @@ public class RobotContainer {
 
      //Pince manuel
      pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
     }, pince));
 
     //Elevateur manuel

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

@@ -28,7 +28,10 @@ public class ElevateurManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (elevateur.limit2())
+    if (elevateur.limit2()){
+
+     
+    }
     elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
   }
 

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

@@ -1,41 +0,0 @@
-// 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.Pince;
-
-import edu.wpi.first.wpilibj2.command.Command;
-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 Algue1Test extends Command {
-  private Pince pince;
-  /** Creates a new AlgueTest. */
-  public Algue1Test(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
-    // 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() {
-    pince.algue1Test(0.2);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.algue1Test(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,41 +0,0 @@
-// 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.Pince;
-
-import edu.wpi.first.wpilibj2.command.Command;
-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 Algue2Test extends Command {
-  private Pince pince;
-  /** Creates a new AlgueTest. */
-  public Algue2Test(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
-    // 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() {
-    pince.algue2Test(0.2);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.algue2Test(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/subsystems/Elevateur.java

@@ -3,8 +3,6 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.subsystems;
-
-import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -25,8 +23,18 @@ public class Elevateur extends SubsystemBase {
     return monte.getEncoder().getPosition();
   }
   public void vitesse(double vitesse){
+    if (limit2()) {
+      if (vitesse > 0) {
+        monte.set(0);
+      }
+      else{
         monte.set(vitesse);
       }
+    }
+    else{
+      monte.set(vitesse);
+    }
+  }
   public boolean limit2(){
     return limit2.get();
   } 

src/main/java/frc/robot/subsystems/Pince.java

@@ -6,8 +6,6 @@ package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
-
-import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -31,8 +29,18 @@ public class Pince extends SubsystemBase {
   coral.set(vitesse);
 }
 public void pivote(double vitesse){
+  if (position()) {
+    if (vitesse > 0) {
+      pivoti.set(0);
+    }
+    else{
       pivoti.set(vitesse);
     }
+  }
+  else{
+    pivoti.set(vitesse);
+  }
+}
 public void aspirealgue(double vitesse){
   algue2.set(-vitesse);
   algue1.set(-vitesse);
@@ -52,12 +60,7 @@ public double emperagecoral(){
 public double emperagealgue(){
   return algue1.getOutputCurrent();
 }
-public void algue1Test(double vitesse){
+
-  algue1.set(vitesse);
-}
-public void algue2Test(double vitesse){
-  algue2.set(vitesse);
-}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run