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

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

@@ -97,7 +97,7 @@ public class RobotContainer {
     SmartDashboard.putData("Auto Mode", autoChooser);
     configureBindings();
     NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
     NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
@@ -121,7 +121,7 @@ public class RobotContainer {
 
     //pince
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
-    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
+    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur,bougie));
     manette1.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
     manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette1.povRight().whileTrue(new CoralExpire(pince, bougie));

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

@@ -7,6 +7,7 @@ package frc.robot.commands.Elevateur;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
@@ -15,11 +16,13 @@ public class StationPince extends Command {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private Pince pince;
   private Elevateur elevateur;
+  private Bougie bougie;
   /** Creates a new L2Pince. */
-  public StationPince(Pince pince,Elevateur elevateur) {
+  public StationPince(Pince pince,Elevateur elevateur, Bougie bougie) {
     this.elevateur = elevateur;
     this.pince = pince;
-    addRequirements(pince,elevateur);
+    this.bougie = bougie;
+    addRequirements(pince,elevateur, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -30,7 +33,13 @@ public class StationPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(0.5);
+    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);
     }

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

@@ -24,7 +24,7 @@ public class Elevateur extends SubsystemBase {
     private GenericEntry encodeurelevateurL4bas =
     teb.add("encodeurelevateurL4bas", -6.6).getEntry();
     private GenericEntry encodeurelevateurL4haut =
-    teb.add("encodeurelevateurL4haut", -6.3).getEntry();
+    teb.add("encodeurelevateurL4haut", -6.2).getEntry();
     private GenericEntry encodeurelevateurstationbas =
     teb.add("encodeurelevateursationbas", -0.5).getEntry();
     private GenericEntry encodeurelevateurstationhaut =
@@ -76,7 +76,7 @@ public class Elevateur extends SubsystemBase {
     return encodeurelevateurL4bas.getDouble(-6.6);
   }
   public double encodeurelevateurL4haut(){
-    return encodeurelevateurL4haut.getDouble(-6.3);
+    return encodeurelevateurL4haut.getDouble(-6.2);
   }
   public double encodeurelevateurstationbas(){
     return encodeurelevateurstationbas.getDouble(-0.5);