From b1124bd3f0801f530c6033270fb2f60b397224da Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 09:34:50 -0500
Subject: [PATCH 01/11] mode auto manuel

---
 src/main/deploy/pathplanner/navgrid.json      |  2 +-
 .../deploy/pathplanner/paths/New Path.path    |  4 +-
 src/main/java/frc/robot/RobotContainer.java   | 25 ++++++----
 .../java/frc/robot/commands/AvancerAuto.java  | 46 +++++++++++++++++++
 .../subsystems/CommandSwerveDrivetrain.java   |  7 ++-
 5 files changed, 70 insertions(+), 14 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/AvancerAuto.java

diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
index 239a79b..0aee245 100644
--- a/src/main/deploy/pathplanner/navgrid.json
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -1 +1 @@
-{"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
+{"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
index 809037b..b6f4c74 100644
--- a/src/main/deploy/pathplanner/paths/New Path.path	
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -35,8 +35,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxAngularVelocity": 0.1,
+    "maxAngularAcceleration": 0.1,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 05d146d..eba36bf 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -28,8 +28,10 @@ import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
+import frc.robot.commands.AvancerAuto;
 import frc.robot.commands.RainBow;
 import frc.robot.commands.reset;
 import frc.robot.commands.Elevateur.Depart;
@@ -177,14 +179,19 @@ public class RobotContainer {
   }
     
     public Command getAutonomousCommand() {
-      return new SequentialCommandGroup(Commands.runOnce(()->{
-        boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
-        if(flip){
-            drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
-        }
-        else{
-            drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
-        }
-      }),autoChooser.getSelected(), new RainBow(bougie));
+      return new SequentialCommandGroup(
+        new AvancerAuto(drive).withTimeout(2),
+        new L1Requin(requin, bougie).withTimeout(2),
+        new ExpireCorail(requin, bougie).withTimeout(2),
+        new RainBow(bougie));
+      // return new SequentialCommandGroup(Commands.runOnce(()->{
+      //   boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
+      //   if(flip){
+      //       drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
+      //   }
+      //   else{
+      //       drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
+      //   }
+      // }),autoChooser.getSelected(), new RainBow(bougie));
     }    
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/AvancerAuto.java b/src/main/java/frc/robot/commands/AvancerAuto.java
new file mode 100644
index 0000000..de51667
--- /dev/null
+++ b/src/main/java/frc/robot/commands/AvancerAuto.java
@@ -0,0 +1,46 @@
+// 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 static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.TunerConstants.TunerConstants;
+
+/* 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 AvancerAuto extends Command {
+   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
+   private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
+    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1);
+  /** Creates a new AvancerAuto. */
+  public AvancerAuto(SwerveRequest.RobotCentric drive) {
+    // 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() {
+    drive.withVelocityX(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drive.withVelocityX(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 8016a25..4a103a9 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -49,14 +49,16 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         try {
             var config = RobotConfig.fromGUISettings();
             AutoBuilder.configure(
+                
                 () -> getState().Pose,   // Supplier of current robot pose
                 this::resetPose,         // Consumer for seeding pose against auto
                 () -> getState().Speeds, // Supplier of current robot speeds
+                
                 // Consumer of ChassisSpeeds and feedforwards to drive the robot
                 (speeds, feedforwards) -> setControl(
                     m_pathApplyRobotSpeeds.withSpeeds(speeds)
-                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
-                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
+                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
+                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
                 ),
                 new PPHolonomicDriveController(
                     // PID constants for translation
@@ -70,6 +72,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
                 // Assume the path needs to be flipped for Red vs Blue, this is normally the case
                 () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
                 this // Subsystem for requirements
+                
             );
         } catch (Exception ex) {
             DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());

From a420d3ff2f9acebacd32a6e3b882a7859fcaaf2d Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 10:06:12 -0500
Subject: [PATCH 02/11] mode auto

---
 src/main/java/frc/robot/RobotContainer.java   | 22 +++++++++----------
 .../java/frc/robot/commands/AvancerAuto.java  |  6 +++--
 2 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index eba36bf..93e0d5c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -85,7 +85,7 @@ public class RobotContainer {
   private final CommandXboxController manette2 = new CommandXboxController(1);
   private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
   public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-  private final SendableChooser<Command> autoChooser;
+  //private final SendableChooser<Command> autoChooser;
   public double getAngle() {
     return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
   }
@@ -104,16 +104,16 @@ public class RobotContainer {
   public RobotContainer() {
   CameraServer.startAutomaticCapture();
   configureBindings();
-  NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-  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));
-  NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
-  NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
-  NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
-  autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-  SmartDashboard.putData("Auto Mode", autoChooser);
+  // NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
+  // 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));
+  // NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
+  // NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
+  // NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
+  //autoChooser = AutoBuilder.buildAutoChooser("New Auto");
+  //SmartDashboard.putData("Auto Mode", autoChooser);
   }
 
   private void configureBindings() {
diff --git a/src/main/java/frc/robot/commands/AvancerAuto.java b/src/main/java/frc/robot/commands/AvancerAuto.java
index de51667..50e95ec 100644
--- a/src/main/java/frc/robot/commands/AvancerAuto.java
+++ b/src/main/java/frc/robot/commands/AvancerAuto.java
@@ -6,6 +6,7 @@ package frc.robot.commands;
 
 import static edu.wpi.first.units.Units.*;
 
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj2.command.Command;
@@ -16,7 +17,8 @@ public class AvancerAuto extends Command {
    private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
    private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
-    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1);
+    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
+    .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new AvancerAuto. */
   public AvancerAuto(SwerveRequest.RobotCentric drive) {
     // Use addRequirements() here to declare subsystem dependencies.
@@ -29,7 +31,7 @@ public class AvancerAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    drive.withVelocityX(0.2);
+    drive.withVelocityX(0.2*MaxSpeed);
   }
 
   // Called once the command ends or is interrupted.

From 9ce0d79903e3e22eb6a2c7156bc5dc551ba2921d Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 10:23:54 -0500
Subject: [PATCH 03/11] mode auto

---
 src/main/java/frc/robot/commands/AvancerAuto.java     | 4 ++--
 src/main/java/frc/robot/commands/requin/L1Requin.java | 1 -
 src/main/java/frc/robot/subsystems/Bougie.java        | 2 +-
 3 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/commands/AvancerAuto.java b/src/main/java/frc/robot/commands/AvancerAuto.java
index 50e95ec..e8f4cd0 100644
--- a/src/main/java/frc/robot/commands/AvancerAuto.java
+++ b/src/main/java/frc/robot/commands/AvancerAuto.java
@@ -31,13 +31,13 @@ public class AvancerAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    drive.withVelocityX(0.2*MaxSpeed);
+    drive.withVelocityY(0.2*MaxSpeed);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    drive.withVelocityX(0);
+    drive.withVelocityY(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/requin/L1Requin.java b/src/main/java/frc/robot/commands/requin/L1Requin.java
index 8087309..dc6b86f 100644
--- a/src/main/java/frc/robot/commands/requin/L1Requin.java
+++ b/src/main/java/frc/robot/commands/requin/L1Requin.java
@@ -27,7 +27,6 @@ public class L1Requin extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    bougie.Bleu();
     if(requin.encodeur()<=530 &&  requin.encodeur()>=430){
       requin.rotationer(0);
     }
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index cc5a16f..d56a9e0 100644
--- a/src/main/java/frc/robot/subsystems/Bougie.java
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Bougie extends SubsystemBase {
   CANdle candle = new CANdle(23);
   CANdleConfiguration config = new CANdleConfiguration();
-  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
+  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 68);
   /** Creates a new Bougie. */
   public Bougie() {
     config.brightnessScalar = 0.5;

From 8852d0a1b6946047a7ccf4916e83380c9d615caf Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 11:41:46 -0500
Subject: [PATCH 04/11] mode auto

---
 src/main/java/frc/robot/RobotContainer.java       |  5 ++++-
 src/main/java/frc/robot/commands/AvancerAuto.java | 10 ++++++++--
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 93e0d5c..fda0dd4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -180,7 +180,10 @@ public class RobotContainer {
     
     public Command getAutonomousCommand() {
       return new SequentialCommandGroup(
-        new AvancerAuto(drive).withTimeout(2),
+        drivetrain.applyRequest(()->
+        drive.withVelocityX(0.5*MaxSpeed)
+       .withVelocityY(0)
+       .withRotationalRate(0)).withTimeout(2),
         new L1Requin(requin, bougie).withTimeout(2),
         new ExpireCorail(requin, bougie).withTimeout(2),
         new RainBow(bougie));
diff --git a/src/main/java/frc/robot/commands/AvancerAuto.java b/src/main/java/frc/robot/commands/AvancerAuto.java
index e8f4cd0..0f8d479 100644
--- a/src/main/java/frc/robot/commands/AvancerAuto.java
+++ b/src/main/java/frc/robot/commands/AvancerAuto.java
@@ -11,16 +11,18 @@ import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.TunerConstants.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 /* 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 AvancerAuto extends Command {
+  private CommandSwerveDrivetrain commandSwerveDrivetrain = TunerConstants.createDrivetrain();
    private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
    private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
     .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
     .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new AvancerAuto. */
-  public AvancerAuto(SwerveRequest.RobotCentric drive) {
+  public AvancerAuto(SwerveRequest.RobotCentric drive, CommandSwerveDrivetrain commandSwerveDrivetrain) {
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -31,7 +33,11 @@ public class AvancerAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    drive.withVelocityY(0.2*MaxSpeed);
+    commandSwerveDrivetrain.applyRequest(()->
+     drive.withVelocityY(0.5*MaxSpeed)
+    .withVelocityX(0)
+    .withRotationalRate(0));
+    
   }
 
   // Called once the command ends or is interrupted.

From b3c699ccf95430ba7207c57f3018403df96d1230 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 11:44:01 -0500
Subject: [PATCH 05/11] mode auto

---
 src/main/java/frc/robot/RobotContainer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index fda0dd4..6cd086f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -181,7 +181,7 @@ public class RobotContainer {
     public Command getAutonomousCommand() {
       return new SequentialCommandGroup(
         drivetrain.applyRequest(()->
-        drive.withVelocityX(0.5*MaxSpeed)
+        drive.withVelocityX(-0.5*MaxSpeed)
        .withVelocityY(0)
        .withRotationalRate(0)).withTimeout(2),
         new L1Requin(requin, bougie).withTimeout(2),

From 41e7d8991949e685487ec50e41aadbbce7b75adf Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 11:59:17 -0500
Subject: [PATCH 06/11] mode auto fonctionnel

---
 src/main/java/frc/robot/RobotContainer.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6cd086f..864b54a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -184,6 +184,10 @@ public class RobotContainer {
         drive.withVelocityX(-0.5*MaxSpeed)
        .withVelocityY(0)
        .withRotationalRate(0)).withTimeout(2),
+       drivetrain.applyRequest(()->
+        drive.withVelocityX(0)
+       .withVelocityY(0)
+       .withRotationalRate(0)).withTimeout(0.1),
         new L1Requin(requin, bougie).withTimeout(2),
         new ExpireCorail(requin, bougie).withTimeout(2),
         new RainBow(bougie));

From 5009a1c928a2e6f82ccbfcb0548da9f7e4cd1128 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 12:23:57 -0500
Subject: [PATCH 07/11] enlever truc inutil + toggle pour auto

---
 src/main/java/frc/robot/RobotContainer.java   | 55 ++++-------------
 .../robot/commands/grimpeur/GrimperHaut.java  | 56 ------------------
 .../robot/commands/grimpeur/GrimpeurBas.java  | 47 ---------------
 .../commands/grimpeur/GrimpeurManuelhaut.java | 59 -------------------
 .../commands/grimpeur/ResetGrimpeur.java      | 39 ------------
 .../java/frc/robot/subsystems/Grimpeur.java   | 40 -------------
 6 files changed, 10 insertions(+), 286 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java
 delete mode 100644 src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java
 delete mode 100644 src/main/java/frc/robot/commands/grimpeur/GrimpeurManuelhaut.java
 delete mode 100644 src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java
 delete mode 100644 src/main/java/frc/robot/subsystems/Grimpeur.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 864b54a..8007c00 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -5,33 +5,24 @@
 package frc.robot;
 
 import static edu.wpi.first.units.Units.*;
+
+import java.util.Map;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.commands.PathPlannerAuto;
-import com.pathplanner.lib.util.FlippingUtil;
-
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
-import frc.robot.commands.AvancerAuto;
 import frc.robot.commands.RainBow;
 import frc.robot.commands.reset;
 import frc.robot.commands.Elevateur.Depart;
@@ -49,9 +40,6 @@ import frc.robot.commands.Pince.CorailAspir;
 import frc.robot.commands.Pince.CoralAlgueInspire;
 import frc.robot.commands.Pince.CoralExpire;
 import frc.robot.commands.Pince.PinceManuel;
-import frc.robot.commands.grimpeur.GrimperHaut;
-import frc.robot.commands.grimpeur.GrimpeurBas;
-import frc.robot.commands.grimpeur.GrimpeurManuelhaut;
 import frc.robot.commands.requin.BalayeuseAlgue;
 import frc.robot.commands.requin.BalayeuseCoral;
 import frc.robot.commands.requin.BalayeuseHaut;
@@ -60,7 +48,6 @@ import frc.robot.commands.requin.L1Requin;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
-import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Limelight3;
 import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
@@ -71,6 +58,9 @@ import frc.robot.commands.Elevateur.balonL2;
 import frc.robot.commands.Elevateur.balonL3;
 
 public class RobotContainer {
+  ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
+    .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
+  GenericEntry L1 = layoutauto.add("choix L1",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
@@ -98,22 +88,11 @@ public class RobotContainer {
   Limelight3G limelight3g = new Limelight3G();
   Limelight3 limelight3 = new Limelight3();
   Pose2d pose = new Pose2d();
-  Grimpeur Grimpeur = new Grimpeur();
   Requin requin = new Requin();
   CorailAspir corailAspir = new CorailAspir(pince, bougie);
   public RobotContainer() {
   CameraServer.startAutomaticCapture();
   configureBindings();
-  // NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-  // 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));
-  // NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
-  // NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
-  // NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
-  //autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-  //SmartDashboard.putData("Auto Mode", autoChooser);
   }
 
   private void configureBindings() {
@@ -158,11 +137,6 @@ public class RobotContainer {
     //limelight
     manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
-   
-    //grimpeur
-    manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
-    manette2.povLeft().whileTrue(new GrimperHaut(Grimpeur, bougie));
-    manette2.povRight().whileTrue(new GrimpeurBas(Grimpeur));
     
      //Pince manuel
      pince.setDefaultCommand(new RunCommand(()->{
@@ -188,17 +162,8 @@ public class RobotContainer {
         drive.withVelocityX(0)
        .withVelocityY(0)
        .withRotationalRate(0)).withTimeout(0.1),
-        new L1Requin(requin, bougie).withTimeout(2),
-        new ExpireCorail(requin, bougie).withTimeout(2),
+        new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2),
+        new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2),
         new RainBow(bougie));
-      // return new SequentialCommandGroup(Commands.runOnce(()->{
-      //   boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
-      //   if(flip){
-      //       drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
-      //   }
-      //   else{
-      //       drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
-      //   }
-      // }),autoChooser.getSelected(), new RainBow(bougie));
     }    
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java b/src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java
deleted file mode 100644
index ce3f65a..0000000
--- a/src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java
+++ /dev/null
@@ -1,56 +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.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 GrimperHaut extends Command {
-  private Grimpeur grimpeur;
-  private Bougie bougie;
-  /** Creates a new Grimper. */
-  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
-    this.grimpeur = grimpeur;
-    this.bougie = bougie;
-    addRequirements(grimpeur,bougie);
-    // 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() {
-    if(grimpeur.stop()==true){
-      grimpeur.grimpe(0);
-      grimpeur.reset();
-      bougie.RainBow();
-    }
-    else{
-      grimpeur.grimpe(0.5);
-      bougie.RainBowStop();
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-   if(grimpeur.stop()){
-    bougie.RainBow();
-   }
-
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return grimpeur.stop()==true;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java b/src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java
deleted file mode 100644
index 8455d38..0000000
--- a/src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java
+++ /dev/null
@@ -1,47 +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.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
-/* 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 GrimpeurBas extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new GrimpeurBas. */
-  public GrimpeurBas(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
-    // 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() {
-    if(grimpeur.encodeur()>=-43.3 && grimpeur.encodeur()<=-42.5){
-      grimpeur.grimpe(0);
-    }
-    else if(grimpeur.encodeur()>=-43.3){
-      grimpeur.grimpe(-0.5);
-    }
-   else{grimpeur.grimpe(0.5);
-  } 
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/grimpeur/GrimpeurManuelhaut.java b/src/main/java/frc/robot/commands/grimpeur/GrimpeurManuelhaut.java
deleted file mode 100644
index dd5bd9b..0000000
--- a/src/main/java/frc/robot/commands/grimpeur/GrimpeurManuelhaut.java
+++ /dev/null
@@ -1,59 +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.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 GrimpeurManuelhaut extends Command {
-  private Grimpeur grimpeur;
-
-  private Bougie bougie;
-  /** Creates a new GrimpeurManuel. */
-  public GrimpeurManuelhaut(Grimpeur grimpeur,Bougie bougie) {
-    this.grimpeur = grimpeur;
-    
-    this.bougie = bougie;
-    addRequirements(grimpeur, bougie);
-    // 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() {
-    if(grimpeur.stop()){
-      bougie.RainBow();
-      grimpeur.grimpe(-0.5);
-    }
-    
-    else{
-      bougie.RainBowStop();
-    grimpeur.grimpe(-0.5);  
-    }
-    
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-    if(grimpeur.stop()){
-      bougie.RainBow();
-    }
-    else{bougie.RainBowStop();}
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java b/src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java
deleted file mode 100644
index 5bf0bea..0000000
--- a/src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java
+++ /dev/null
@@ -1,39 +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.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 ResetGrimpeur extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new ResetGrimpeur. */
-  public ResetGrimpeur(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
-    // 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() {
-    grimpeur.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;
-  }
-}
diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
deleted file mode 100644
index 1f94b20..0000000
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ /dev/null
@@ -1,40 +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.subsystems;
-
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Grimpeur extends SubsystemBase {
-  /** Creates a new Grimpeur. */
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  public Grimpeur() {
-    teb.addBoolean("limit grimpeur", this::stop);
-    teb.addDouble("encodeur grimpeur", this::encodeur);
-  }
-  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
-  final DigitalInput limit1 = new DigitalInput(2);
-  public void grimpe(double vitesse){
-    grimpeur.set(vitesse);
-  }
-  public boolean stop(){
-   return limit1.get();
-  }
-  public double encodeur(){
-  return grimpeur.getEncoder().getPosition();
-  }
-  public void reset(){
-     grimpeur.getEncoder().setPosition(135.11);
-    }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

From 28d5118c1f6c9cdffbb3190bdb72043fa272bc53 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 12:52:13 -0500
Subject: [PATCH 08/11] mode auto

---
 src/main/java/frc/robot/RobotContainer.java | 23 ++++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8007c00..4945b80 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -61,6 +61,9 @@ public class RobotContainer {
   ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
     .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
   GenericEntry L1 = layoutauto.add("choix L1",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry sortirAngle = layoutauto.add("Cote?",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry Reculer = layoutauto.add("Reculer",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry L4 = layoutauto.add("L4",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
@@ -157,11 +160,29 @@ public class RobotContainer {
         drivetrain.applyRequest(()->
         drive.withVelocityX(-0.5*MaxSpeed)
        .withVelocityY(0)
-       .withRotationalRate(0)).withTimeout(2),
+       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(2),
+      drivetrain.applyRequest(()->
+      drive.withVelocityX(0.5*MaxSpeed)
+     .withVelocityY(0)
+     .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2),
+     drivetrain.applyRequest(()->
+     drive.withVelocityX(-0.5*MaxSpeed)
+    .withVelocityY(0)
+    .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(2),
        drivetrain.applyRequest(()->
         drive.withVelocityX(0)
        .withVelocityY(0)
        .withRotationalRate(0)).withTimeout(0.1),
+        new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
+        drivetrain.applyRequest(()->
+        drive.withVelocityX(0.2*MaxSpeed)
+       .withVelocityY(0)
+       .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.5),
+       drivetrain.applyRequest(()->
+       drive.withVelocityX(0*MaxSpeed)
+      .withVelocityY(0)
+      .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2),
+        new CoralExpire(pince, bougie).unless(()->!L4.getBoolean(true)).withTimeout(2),
         new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2),
         new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2),
         new RainBow(bougie));

From 0d63654df8335838a2a87cb3a193096b7c69f7fc Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 13:07:57 -0500
Subject: [PATCH 09/11] mode auto

---
 src/main/java/frc/robot/RobotContainer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4945b80..bf684cc 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -158,7 +158,7 @@ public class RobotContainer {
     public Command getAutonomousCommand() {
       return new SequentialCommandGroup(
         drivetrain.applyRequest(()->
-        drive.withVelocityX(-0.5*MaxSpeed)
+        drive.withVelocityX(-0.1*MaxSpeed)
        .withVelocityY(0)
        .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(2),
       drivetrain.applyRequest(()->

From 004890fd7b42e641aec59f880fda4c7376de9595 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 17:37:01 -0500
Subject: [PATCH 10/11] mode auto

---
 src/main/java/frc/robot/RobotContainer.java | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bf684cc..cdb8827 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -60,10 +60,10 @@ import frc.robot.commands.Elevateur.balonL3;
 public class RobotContainer {
   ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
     .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
-  GenericEntry L1 = layoutauto.add("choix L1",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  GenericEntry sortirAngle = layoutauto.add("Cote?",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  GenericEntry Reculer = layoutauto.add("Reculer",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  GenericEntry L4 = layoutauto.add("L4",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry L1 = layoutauto.add("choix L1",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry sortirAngle = layoutauto.add("Cote?",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry Reculer = layoutauto.add("Reculer",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry L4 = layoutauto.add("L4",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
@@ -160,11 +160,11 @@ public class RobotContainer {
         drivetrain.applyRequest(()->
         drive.withVelocityX(-0.1*MaxSpeed)
        .withVelocityY(0)
-       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(2),
+       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3),
       drivetrain.applyRequest(()->
       drive.withVelocityX(0.5*MaxSpeed)
      .withVelocityY(0)
-     .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2),
+     .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3),
      drivetrain.applyRequest(()->
      drive.withVelocityX(-0.5*MaxSpeed)
     .withVelocityY(0)

From c0e7985ab7ef30fb4cf683ce5960f6ed9310048e Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 4 Mar 2025 17:37:15 -0500
Subject: [PATCH 11/11] mode auto

---
 src/main/java/frc/robot/RobotContainer.java   | 20 +++---
 .../java/frc/robot/commands/Elevateur/L2.java |  4 +-
 .../robot/commands/requin/BalayeuseAlgue.java |  4 +-
 .../robot/commands/requin/ExpireCorail.java   |  4 +-
 .../frc/robot/commands/requin/L1Requin.java   |  4 +-
 .../subsystems/CommandSwerveDrivetrain.java   | 72 +++++++++----------
 6 files changed, 54 insertions(+), 54 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index cdb8827..24ba9d7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -78,7 +79,6 @@ public class RobotContainer {
   private final CommandXboxController manette2 = new CommandXboxController(1);
   private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
   public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-  //private final SendableChooser<Command> autoChooser;
   public double getAngle() {
     return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
   }
@@ -160,24 +160,24 @@ public class RobotContainer {
         drivetrain.applyRequest(()->
         drive.withVelocityX(-0.1*MaxSpeed)
        .withVelocityY(0)
-       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3),
-      drivetrain.applyRequest(()->
-      drive.withVelocityX(0.5*MaxSpeed)
-     .withVelocityY(0)
-     .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3),
+       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3.5),
+        drivetrain.applyRequest(()->
+         drive.withVelocityX(0.1*MaxSpeed)
+        .withVelocityY(0)
+        .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3.5),
      drivetrain.applyRequest(()->
-     drive.withVelocityX(-0.5*MaxSpeed)
+     drive.withVelocityX(-0.1*MaxSpeed)
     .withVelocityY(0)
-    .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(2),
+    .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(3),
        drivetrain.applyRequest(()->
         drive.withVelocityX(0)
        .withVelocityY(0)
        .withRotationalRate(0)).withTimeout(0.1),
         new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
         drivetrain.applyRequest(()->
-        drive.withVelocityX(0.2*MaxSpeed)
+        drive.withVelocityX(0.1*MaxSpeed)
        .withVelocityY(0)
-       .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.5),
+       .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.25),
        drivetrain.applyRequest(()->
        drive.withVelocityX(0*MaxSpeed)
       .withVelocityY(0)
diff --git a/src/main/java/frc/robot/commands/Elevateur/L2.java b/src/main/java/frc/robot/commands/Elevateur/L2.java
index 99b1a3a..9b60cea 100644
--- a/src/main/java/frc/robot/commands/Elevateur/L2.java
+++ b/src/main/java/frc/robot/commands/Elevateur/L2.java
@@ -26,10 +26,10 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(pince.encodeurpivot()>=14 && pince.encodeurpivot()<=15){
+     if(pince.encodeurpivot()>=15 && pince.encodeurpivot()<=16.5){
        pince.pivote(0);
      }
-     else if(pince.encodeurpivot()>=14){
+     else if(pince.encodeurpivot()>=15){
        pince.pivote(-0.2);
      }
      else{
diff --git a/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
index f6130df..1a2216d 100644
--- a/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
@@ -27,8 +27,8 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double cibleMin = 700;
-    double cibleMax = 900;
+    double cibleMin = 550;
+    double cibleMax = 650;
 
      if(requin.amp()>=78.2){
        requin.xRequin = true;
diff --git a/src/main/java/frc/robot/commands/requin/ExpireCorail.java b/src/main/java/frc/robot/commands/requin/ExpireCorail.java
index 3dd81c1..ba8f98b 100644
--- a/src/main/java/frc/robot/commands/requin/ExpireCorail.java
+++ b/src/main/java/frc/robot/commands/requin/ExpireCorail.java
@@ -28,12 +28,12 @@ public class ExpireCorail extends Command {
   @Override
   public void execute() {
     if(requin.amp()> 60){
-      requin.balaye(-0.4);
+      requin.balaye(-0.2);
     }
     else
     {
     bougie.Rouge();
-    requin.balaye(-0.4);   
+    requin.balaye(-0.2);   
   }
 }
 
diff --git a/src/main/java/frc/robot/commands/requin/L1Requin.java b/src/main/java/frc/robot/commands/requin/L1Requin.java
index dc6b86f..bbae1d4 100644
--- a/src/main/java/frc/robot/commands/requin/L1Requin.java
+++ b/src/main/java/frc/robot/commands/requin/L1Requin.java
@@ -27,10 +27,10 @@ public class L1Requin extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.encodeur()<=530 &&  requin.encodeur()>=430){
+    if(requin.encodeur()<=485 &&  requin.encodeur()>=385){
       requin.rotationer(0);
     }
-    else if(requin.encodeur()>=530){
+    else if(requin.encodeur()>=485){
     requin.rotationer(-0.5);
     }
     else{
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 4a103a9..9d3b2e0 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -45,42 +45,42 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
     private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
 
-    private void configureAutoBuilder() {
-        try {
-            var config = RobotConfig.fromGUISettings();
-            AutoBuilder.configure(
+    // private void configureAutoBuilder() {
+    //     try {
+    //         var config = RobotConfig.fromGUISettings();
+    //         AutoBuilder.configure(
                 
-                () -> getState().Pose,   // Supplier of current robot pose
-                this::resetPose,         // Consumer for seeding pose against auto
-                () -> getState().Speeds, // Supplier of current robot speeds
+    //             () -> getState().Pose,   // Supplier of current robot pose
+    //             this::resetPose,         // Consumer for seeding pose against auto
+    //             () -> getState().Speeds, // Supplier of current robot speeds
                 
-                // Consumer of ChassisSpeeds and feedforwards to drive the robot
-                (speeds, feedforwards) -> setControl(
-                    m_pathApplyRobotSpeeds.withSpeeds(speeds)
-                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
-                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
-                ),
-                new PPHolonomicDriveController(
-                    // PID constants for translation
-                    new PIDConstants(63.167, 0, 0.54521),
-                    // // PID constants for rotation
-                    // new PIDConstants(7.9735, 0, 0.038499)
-                    // PID constants for rotation
-                    new PIDConstants(43.502,0,2.7353)
-                ),
-                config,
-                // Assume the path needs to be flipped for Red vs Blue, this is normally the case
-                () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
-                this // Subsystem for requirements
+    //             // Consumer of ChassisSpeeds and feedforwards to drive the robot
+    //             (speeds, feedforwards) -> setControl(
+    //                 m_pathApplyRobotSpeeds.withSpeeds(speeds)
+    //                     .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
+    //                     .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
+    //             ),
+    //             new PPHolonomicDriveController(
+    //                 // PID constants for translation
+    //                 new PIDConstants(63.167, 0, 0.54521),
+    //                 // // PID constants for rotation
+    //                 // new PIDConstants(7.9735, 0, 0.038499)
+    //                 // PID constants for rotation
+    //                 new PIDConstants(43.502,0,2.7353)
+    //             ),
+    //             config,
+    //             // Assume the path needs to be flipped for Red vs Blue, this is normally the case
+    //             () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+    //             this // Subsystem for requirements
                 
-            );
-        } catch (Exception ex) {
-            DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
-        }
-         PPHolonomicDriveController.overrideRotationFeedback(()->{
-            return 0;
-         });  
-        }
+    //         );
+    //     } catch (Exception ex) {
+    //         DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
+    //     }
+    //      PPHolonomicDriveController.overrideRotationFeedback(()->{
+    //         return 0;
+    //      });  
+    //     }
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -100,7 +100,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+        //configureAutoBuilder();
     }
 
     /**
@@ -125,7 +125,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+     //   configureAutoBuilder();
     }
 
     /**
@@ -158,7 +158,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+        //configureAutoBuilder();
     }