pid d`édouard

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

@@ -31,10 +31,10 @@ public class Elevateur extends SubsystemBase {
     teb.add("encodeurelevateursationhaut", -0.4).getEntry();
     private GenericEntry distanceDeploiePince =
     teb.add("encodeurDeploiePince", 0.2).getEntry();
-       
   public Elevateur() {
     teb.addDouble("encodeur elevateur",this::position);
     teb.addBoolean("limit elevateur", this::limit2);
+    teb.addDouble("amperage elevateur", this::amp);
   }
   final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(0);
@@ -89,7 +89,9 @@ public class Elevateur extends SubsystemBase {
   public double distanceDeploiePince(){
     return distanceDeploiePince.getDouble(0.2);
   }
-  
+  public double amp(){
+    return monte.getOutputCurrent();
+  }
   
   @Override
   public void periodic() {

src/main/java/frc/robot/subsystems/Limelight3.java

@@ -20,8 +20,15 @@ public class Limelight3 extends SubsystemBase {
       PortForwarder.add(port, "limelight.local", port);
     }
   }
-  public double getX(){
-    return LimelightHelpers.getTX("limelight-balon");
+  public double getTx(){
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry tx = table.getEntry("tx");
+    return tx.getDouble(0.0);
+  }
+  public double getRx(){
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry rx = table.getEntry("rx");
+    return rx.getDouble(0.0);
   }
   public boolean getV(){
     return LimelightHelpers.getTV("limelight-balon");

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

@@ -19,6 +19,7 @@ public class Pince extends SubsystemBase {
     teb.addDouble("encodeur pince", this::encodeurpivot);
     teb.addDouble("amperage corail", this::emperagecoral);
     teb.addDouble("amperage algue", this::emperagealgue);
+    teb.addDouble("amperage pivotis", this::ampPivote);
   }
   final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
   final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
@@ -63,7 +64,9 @@ public double emperagealgue(){
   return algue1.getOutputCurrent();
 }
 public boolean x = false;
-
+public double ampPivote(){
+  return pivoti.getOutputCurrent();
+}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run