From 9f64f15ae4b08a413851217b153f9b1357dac479 Mon Sep 17 00:00:00 2001
From: Samuel <2540638@etudiant.cegepvicto.com>
Date: Mon, 27 Oct 2025 17:45:07 -0400
Subject: [PATCH] pid pour L3

---
 src/main/java/frc/robot/commands/Elevateur/L3.java | 2 +-
 src/main/java/frc/robot/subsystems/Elevateur.java  | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Elevateur/L3.java b/src/main/java/frc/robot/commands/Elevateur/L3.java
index 8011b68..e3880db 100644
--- a/src/main/java/frc/robot/commands/Elevateur/L3.java
+++ b/src/main/java/frc/robot/commands/Elevateur/L3.java
@@ -33,7 +33,7 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    output = pidController.calculate(elevateur.position(),20);
+    output = pidController.calculate(elevateur.position(),-3);
     elevateur.vitesse(output);
   // if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
   //   elevateur.vitesse(0);
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index 1ef7681..de500a4 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -8,6 +8,8 @@ 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;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 public class Elevateur extends SubsystemBase {
@@ -38,7 +40,6 @@ public class Elevateur extends SubsystemBase {
   }
   final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(0);
-  
   public double position(){ 
     return monte.getEncoder().getPosition();
   }
@@ -90,7 +91,6 @@ public class Elevateur extends SubsystemBase {
     return distanceDeploiePince.getDouble(0.2);
   }
   
-  
   @Override
   public void periodic() {
     // This method will be called once per scheduler run