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

@@ -26,6 +26,7 @@ import frc.robot.commands.L4;
 import frc.robot.commands.PinceManuel;
 import frc.robot.commands.PinceManuel2;
 import frc.robot.commands.StationPince;
+import frc.robot.commands.reset;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 import frc.robot.subsystems.Bougie;
@@ -42,7 +43,7 @@ public class RobotContainer {
   public RobotContainer() {
     configureBindings();
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(-manette2.getLeftY(), 0.2));
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
     pince.setDefaultCommand(new RunCommand(()->{
       pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
@@ -72,6 +73,7 @@ public class RobotContainer {
     manette2.povLeft().whileTrue(new Algue1Test(pince));
     manette2.povRight().whileTrue(new Algue2Test(pince));
     manette2.x().whileTrue(new CorailTest(pince));
+    manette2.start().whileTrue(new reset(elevateur));
   }
   
   public Command getAutonomousCommand() {

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

@@ -32,17 +32,9 @@ public class Depart extends Command {
       elevateur.reset();
     }
     else{
-      elevateur.vitesse(-.5);
+      elevateur.vitesse(.5);
-    }
-    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
     }
+    
   }
 
   // Called once the command ends or is interrupted.

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

@@ -32,7 +32,7 @@ public class L2 extends Command {
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=510){
-      elevateur.vitesse(-0.3);
+      elevateur.vitesse(0.3);
     }
     else{
       elevateur.vitesse(.3);
@@ -42,10 +42,10 @@ public class L2 extends Command {
      
     }
     else if(pince.encodeurpivot()>=510){
-      pince.pivote(-0.2);
+      pince.pivote(0.2);
     }
     else{
-      pince.pivote(0.2);
+      pince.pivote(-0.2);
     }
 
   }

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

@@ -32,19 +32,19 @@ public class L3 extends Command {
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=510){
-      elevateur.vitesse(-0.5);
+      elevateur.vitesse(0.5);
     }
     else{
-      elevateur.vitesse(.5);
+      elevateur.vitesse(-.5);
     }
     if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=710){
-      pince.pivote(-0.2);
+      pince.pivote(0.2);
     }
     else{
-      pince.pivote(0.2);
+      pince.pivote(-0.2);
     }
   }
 

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

@@ -32,7 +32,7 @@ public class L4 extends Command {
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=810){
-      elevateur.vitesse(-0.5);
+      elevateur.vitesse(0.5);
     }
     else{
       elevateur.vitesse(.5);
@@ -41,10 +41,10 @@ public class L4 extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=810){
-      pince.pivote(-0.2);
+      pince.pivote(0.2);
     }
     else{
-      pince.pivote(0.2);
+      pince.pivote(-0.2);
     }
   }
 

src/main/java/frc/robot/commands/reset.java

@@ -0,0 +1,41 @@
+// 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.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 reset extends Command {
+  /** Creates a new reset. */
+  private Elevateur elevateur;
+  public reset(Elevateur elevateur) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+  }
+
+  // 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() {
+    elevateur.reset();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}