From 5b754ff82444083736c2d234cda743a61b991042 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 19:38:53 -0500
Subject: [PATCH] changement encodeur l3, pince algue

---
 src/main/java/frc/robot/RobotContainer.java   |  8 ++++
 .../frc/robot/commands/Algue_inspire.java     | 44 +++++++++++++++++++
 src/main/java/frc/robot/commands/L3.java      | 22 +++++-----
 src/main/java/frc/robot/subsystems/Pince.java |  2 +-
 4 files changed, 64 insertions(+), 12 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/Algue_inspire.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4ca743c..55d971f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -24,6 +24,9 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
+import frc.robot.commands.Algue1Test;
+import frc.robot.commands.Algue2Test;
+import frc.robot.commands.Algue_inspire;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
 import frc.robot.commands.ElevateurManuel;
@@ -108,6 +111,11 @@ public class RobotContainer {
     manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette1.a().whileTrue(new reset(elevateur,pince));
     manette1.b().whileTrue(new L2(elevateur, pince));
+
+    manette2.a().whileTrue(new Algue_inspire(pince));
+    
+    manette2.b().whileTrue(new Algue1Test(pince));
+    manette2.x().whileTrue(new Algue2Test(pince));
     
     // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
   }  
diff --git a/src/main/java/frc/robot/commands/Algue_inspire.java b/src/main/java/frc/robot/commands/Algue_inspire.java
new file mode 100644
index 0000000..f3e3bdf
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Algue_inspire.java
@@ -0,0 +1,44 @@
+// 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;
+
+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 Algue_inspire extends Command {
+  /** Creates a new Algue_inspire. */
+  private Pince pince;
+  public Algue_inspire(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.
+
+  //ajouter l'amperage pour arreter les moteurs
+  @Override
+  public void execute() {
+    pince.aspirealgue(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirealgue(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java
index a0fc189..7d18cc8 100644
--- a/src/main/java/frc/robot/commands/L3.java
+++ b/src/main/java/frc/robot/commands/L3.java
@@ -28,24 +28,24 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=700 && elevateur.position()<=710){
+    if(elevateur.position()<=-4 && elevateur.position()>=-4.7){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=510){
+    else if(elevateur.position()>=-4.7){
       elevateur.vitesse(0.5);
     }
     else{
       elevateur.vitesse(-.5);
     }
-    if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=710){
-      pince.pivote(0.2);
-    }
-    else{
-      pince.pivote(-0.2);
-    }
+    // if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+    //   pince.pivote(0);
+    // }
+    // else if(pince.encodeurpivot()>=710){
+    //   pince.pivote(0.2);
+    // }
+    // else{
+    //   pince.pivote(-0.2);
+    // }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 125c103..f07f601 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -34,7 +34,7 @@ public void pivote(double vitesse){
   pivoti.set(vitesse);
 }
 public void aspirealgue(double vitesse){
-  algue2.set(vitesse);
+  algue2.set(-vitesse);
   algue1.set(-vitesse);
 }
 public double encodeurpivot(){