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

src/main/deploy/pathplanner/paths/New Path.path

@@ -35,8 +35,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
+    "maxAngularVelocity": 0.1,
-    "maxAngularAcceleration": 720.0,
+    "maxAngularAcceleration": 0.1,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

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

@@ -5,27 +5,21 @@
 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.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
+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.shuffleboard.ShuffleboardLayout;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-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.button.CommandXboxController;
@@ -47,9 +41,6 @@ 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;
@@ -58,7 +49,6 @@ 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;
@@ -69,6 +59,12 @@ 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",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
 
@@ -83,7 +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
   }
@@ -96,22 +91,11 @@ 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() {
@@ -156,11 +140,6 @@ 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(()->{
@@ -177,14 +156,35 @@ public class RobotContainer {
   }
     
     public Command getAutonomousCommand() {
-      return new SequentialCommandGroup(Commands.runOnce(()->{
+      return new SequentialCommandGroup(
-        boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
+        drivetrain.applyRequest(()->
-        if(flip){
+        drive.withVelocityX(-0.1*MaxSpeed)
-            drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
+       .withVelocityY(0)
-        }
+       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3.5),
-        else{
+        drivetrain.applyRequest(()->
-            drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
+         drive.withVelocityX(0.1*MaxSpeed)
-        }
+        .withVelocityY(0)
-      }),autoChooser.getSelected(), new RainBow(bougie));
+        .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3.5),
+     drivetrain.applyRequest(()->
+     drive.withVelocityX(-0.1*MaxSpeed)
+    .withVelocityY(0)
+    .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(0.1*MaxSpeed)
+       .withVelocityY(0)
+       .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.25),
+       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));
     }    
 }

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

@@ -0,0 +1,54 @@
+// 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.SwerveModule.DriveRequestType;
+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, CommandSwerveDrivetrain commandSwerveDrivetrain) {
+    // 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() {
+    commandSwerveDrivetrain.applyRequest(()->
+     drive.withVelocityY(0.5*MaxSpeed)
+    .withVelocityX(0)
+    .withRotationalRate(0));
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drive.withVelocityY(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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{

src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java

@@ -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;
-  }
-}

src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java

@@ -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;
-  }
-}

src/main/java/frc/robot/commands/grimpeur/GrimpeurManuelhaut.java

@@ -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;
-  }
-}

src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java

@@ -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;
-  }
-}

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 cibleMin = 550;
-    double cibleMax = 900;
+    double cibleMax = 650;
 
      if(requin.amp()>=78.2){
        requin.xRequin = true;

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);   
   }
 }
 

src/main/java/frc/robot/commands/requin/L1Requin.java

@@ -27,11 +27,10 @@ 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()<=485 &&  requin.encodeur()>=385){
-    if(requin.encodeur()<=530 &&  requin.encodeur()>=430){
       requin.rotationer(0);
     }
-    else if(requin.encodeur()>=530){
+    else if(requin.encodeur()>=485){
     requin.rotationer(-0.5);
     }
     else{

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;

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

@@ -45,39 +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() {
+    // private void configureAutoBuilder() {
-        try {
+    //     try {
-            var config = RobotConfig.fromGUISettings();
+    //         var config = RobotConfig.fromGUISettings();
-            AutoBuilder.configure(
+    //         AutoBuilder.configure(
-                () -> getState().Pose,   // Supplier of current robot pose
+                
-                this::resetPose,         // Consumer for seeding pose against auto
+    //             () -> getState().Pose,   // Supplier of current robot pose
-                () -> getState().Speeds, // Supplier of current robot speeds
+    //             this::resetPose,         // Consumer for seeding pose against auto
-                // Consumer of ChassisSpeeds and feedforwards to drive the robot
+    //             () -> getState().Speeds, // Supplier of current robot speeds
-                (speeds, feedforwards) -> setControl(
+                
-                    m_pathApplyRobotSpeeds.withSpeeds(speeds)
+    //             // Consumer of ChassisSpeeds and feedforwards to drive the robot
-                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
+    //             (speeds, feedforwards) -> setControl(
-                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
+    //                 m_pathApplyRobotSpeeds.withSpeeds(speeds)
-                ),
+    //                     .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
-                new PPHolonomicDriveController(
+    //                     .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
-                    // PID constants for translation
+    //             ),
-                    new PIDConstants(63.167, 0, 0.54521),
+    //             new PPHolonomicDriveController(
-                    // // PID constants for rotation
+    //                 // PID constants for translation
-                    // new PIDConstants(7.9735, 0, 0.038499)
+    //                 new PIDConstants(63.167, 0, 0.54521),
-                    // PID constants for rotation
+    //                 // // PID constants for rotation
-                    new PIDConstants(43.502,0,2.7353)
+    //                 // new PIDConstants(7.9735, 0, 0.038499)
-                ),
+    //                 // PID constants for rotation
-                config,
+    //                 new PIDConstants(43.502,0,2.7353)
-                // Assume the path needs to be flipped for Red vs Blue, this is normally the case
+    //             ),
-                () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+    //             config,
-                this // Subsystem for requirements
+    //             // Assume the path needs to be flipped for Red vs Blue, this is normally the case
-            );
+    //             () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
-        } catch (Exception ex) {
+    //             this // Subsystem for requirements
-            DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
+                
-        }
+    //         );
-         PPHolonomicDriveController.overrideRotationFeedback(()->{
+    //     } catch (Exception ex) {
-            return 0;
+    //         DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
-         });  
+    //     }
-        }
+    //      PPHolonomicDriveController.overrideRotationFeedback(()->{
+    //         return 0;
+    //      });  
+    //     }
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -97,7 +100,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+        //configureAutoBuilder();
     }
 
     /**
@@ -122,7 +125,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+     //   configureAutoBuilder();
     }
 
     /**
@@ -155,7 +158,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+        //configureAutoBuilder();
     }
 
     

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

@@ -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
-  }
-}