From 6c6abb58e1487f420464a72d33d55a3a616d3fb5 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 20:08:57 -0500
Subject: [PATCH] ajuster distances

---
 src/main/java/frc/robot/RobotContainer.java | 12 ++++++----
 src/main/java/frc/robot/commands/L3.java    |  8 +++----
 src/main/java/frc/robot/commands/L4.java    | 26 ++++++++++-----------
 3 files changed, 25 insertions(+), 21 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 55d971f..a370362 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -26,12 +26,15 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
 import frc.robot.commands.Algue1Test;
 import frc.robot.commands.Algue2Test;
+import frc.robot.commands.AlgueExpire;
 import frc.robot.commands.Algue_inspire;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
 import frc.robot.commands.ElevateurManuel;
 import frc.robot.commands.Forme3;
 import frc.robot.commands.L2;
+import frc.robot.commands.L3;
+import frc.robot.commands.L4;
 import frc.robot.commands.PinceManuel;
 import frc.robot.commands.PinceManuel2;
 import frc.robot.commands.RainBow;
@@ -110,12 +113,13 @@ public class RobotContainer {
     manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette1.a().whileTrue(new reset(elevateur,pince));
-    manette1.b().whileTrue(new L2(elevateur, pince));
+   
 
     manette2.a().whileTrue(new Algue_inspire(pince));
-    
-    manette2.b().whileTrue(new Algue1Test(pince));
-    manette2.x().whileTrue(new Algue2Test(pince));
+    manette2.b().whileTrue(new L2(elevateur, pince));
+    manette2.x().whileTrue(new L3(elevateur, pince));
+    manette2.y().whileTrue(new L4(elevateur, pince));
+    manette2.rightBumper().whileTrue(new AlgueExpire(pince, bougie));
     
     // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
   }  
diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java
index 7d18cc8..7308950 100644
--- a/src/main/java/frc/robot/commands/L3.java
+++ b/src/main/java/frc/robot/commands/L3.java
@@ -28,14 +28,14 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=-4 && elevateur.position()>=-4.7){
+    if(elevateur.position()<=-2.9 && elevateur.position()>=-3){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=-4.7){
-      elevateur.vitesse(0.5);
+    else if(elevateur.position()>=-2.9){
+      elevateur.vitesse(-0.2);
     }
     else{
-      elevateur.vitesse(-.5);
+      elevateur.vitesse(.2);
     }
     // if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
     //   pince.pivote(0);
diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java
index 5bec009..6612995 100644
--- a/src/main/java/frc/robot/commands/L4.java
+++ b/src/main/java/frc/robot/commands/L4.java
@@ -28,24 +28,24 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=800 && elevateur.position()<=809){
+    if(elevateur.position()<=-6.5 && elevateur.position()>=-6.4){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=810){
-      elevateur.vitesse(0.5);
+    else if(elevateur.position()>=-6.5){
+      elevateur.vitesse(-0.2);
     }
     else{
-      elevateur.vitesse(.5);
-    }
-    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=810){
-      pince.pivote(0.2);
-    }
-    else{
-      pince.pivote(-0.2);
+      elevateur.vitesse(.2);
     }
+    // if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
+    //   pince.pivote(0);
+    // }
+    // else if(pince.encodeurpivot()>=810){
+    //   pince.pivote(0.2);
+    // }
+    // else{
+    //   pince.pivote(-0.2);
+    // }
   }
 
   // Called once the command ends or is interrupted.