From b16d11b70a484a897f0b332ced2f6de152b8358b Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 27 Jan 2025 19:11:22 -0500
Subject: [PATCH 01/43] elevateur

---
 .../java/frc/robot/subsystems/Elevateur.java  | 27 +++++++++++++++++++
 1 file changed, 27 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/Elevateur.java

diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
new file mode 100644
index 0000000..abdf9c4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -0,0 +1,27 @@
+// 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 edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+public class Elevateur extends SubsystemBase {
+  /** Creates a new Elevateur. */
+  public Elevateur() {}
+  final SparkMax  monte = new SparkMax(0, MotorType.kBrushless);
+  final DigitalInput limit2 = new DigitalInput(0);
+  public double positionL2(double position){
+    return monte.getEncoder().getPosition();
+  }
+  public void vitesseL2(double vitesse){
+    monte.set(vitesse);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From 7521c0d94ea8e476df941a0d8679ff52f3d4404b Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 27 Jan 2025 19:15:16 -0500
Subject: [PATCH 02/43] elevateur

---
 .../java/frc/robot/subsystems/Elevateur.java  | 23 ++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index abdf9c4..33d51b1 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -5,7 +5,6 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
@@ -20,6 +19,28 @@ public class Elevateur extends SubsystemBase {
   public void vitesseL2(double vitesse){
     monte.set(vitesse);
   }
+  public double positionL3(double position){
+    return monte.getEncoder().getPosition();
+  }
+  public void vitesseL3(double vitesse){
+    monte.set(vitesse);
+  }
+  public double positionL4(double position){
+    return monte.getEncoder().getPosition();
+  }
+  public void vitesseL4(double vitesse){
+    monte.set(vitesse);
+  }
+  public double position1(double position){
+    return monte.getEncoder().getPosition();
+  }
+  public void vitesse1(double vitesse){
+    monte.set(vitesse);
+  }
+ 
+  public void manuel(double vitesse){
+    monte.set(vitesse);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 0577ce368a4ae2f8c77c7cb5e4daa92c58935f3f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 27 Jan 2025 19:26:11 -0500
Subject: [PATCH 03/43] positon

---
 src/main/java/frc/robot/command/L2.java       | 46 +++++++++++++++++++
 src/main/java/frc/robot/command/L3.java       | 46 +++++++++++++++++++
 src/main/java/frc/robot/command/L4.java       | 46 +++++++++++++++++++
 .../java/frc/robot/subsystems/Elevateur.java  | 28 ++---------
 4 files changed, 143 insertions(+), 23 deletions(-)
 create mode 100644 src/main/java/frc/robot/command/L2.java
 create mode 100644 src/main/java/frc/robot/command/L3.java
 create mode 100644 src/main/java/frc/robot/command/L4.java

diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/command/L2.java
new file mode 100644
index 0000000..9804df8
--- /dev/null
+++ b/src/main/java/frc/robot/command/L2.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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class L2 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public L2(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.position(500)>=500){
+      elevateur.vitesse(0);
+    }
+    else{
+      elevateur.vitesse(.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.position(500)>=500;
+  }
+}
diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/command/L3.java
new file mode 100644
index 0000000..e5ff0da
--- /dev/null
+++ b/src/main/java/frc/robot/command/L3.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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class L3 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public L3(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.position(700)>=700){
+      elevateur.vitesse(0);
+    }
+    else{
+      elevateur.vitesse(.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.position(700)>=700;
+  }
+}
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
new file mode 100644
index 0000000..b0b3c1c
--- /dev/null
+++ b/src/main/java/frc/robot/command/L4.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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class L4 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public L4(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.position(800)>=800){
+      elevateur.vitesse(0);
+    }
+    else{
+      elevateur.vitesse(.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.position(800)>=800;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index 33d51b1..e81d5ef 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -13,34 +13,16 @@ public class Elevateur extends SubsystemBase {
   public Elevateur() {}
   final SparkMax  monte = new SparkMax(0, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(0);
-  public double positionL2(double position){
+  public double position(double position){
     return monte.getEncoder().getPosition();
   }
-  public void vitesseL2(double vitesse){
-    monte.set(vitesse);
-  }
-  public double positionL3(double position){
-    return monte.getEncoder().getPosition();
-  }
-  public void vitesseL3(double vitesse){
-    monte.set(vitesse);
-  }
-  public double positionL4(double position){
-    return monte.getEncoder().getPosition();
-  }
-  public void vitesseL4(double vitesse){
-    monte.set(vitesse);
-  }
-  public double position1(double position){
-    return monte.getEncoder().getPosition();
-  }
-  public void vitesse1(double vitesse){
+  public void vitesse(double vitesse){
     monte.set(vitesse);
   }
+
+
+
  
-  public void manuel(double vitesse){
-    monte.set(vitesse);
-  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From e7b4b479284ce1337c598724639717e3e3962ea8 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 27 Jan 2025 19:51:46 -0500
Subject: [PATCH 04/43] elevateur

---
 src/main/java/frc/robot/command/Depart.java   | 47 ++++++++++++++++++
 .../frc/robot/command/ElevateurManuel.java    | 48 +++++++++++++++++++
 src/main/java/frc/robot/command/L2.java       |  6 +--
 src/main/java/frc/robot/command/L3.java       |  4 +-
 src/main/java/frc/robot/command/L4.java       |  4 +-
 .../java/frc/robot/subsystems/Elevateur.java  | 12 +++--
 6 files changed, 109 insertions(+), 12 deletions(-)
 create mode 100644 src/main/java/frc/robot/command/Depart.java
 create mode 100644 src/main/java/frc/robot/command/ElevateurManuel.java

diff --git a/src/main/java/frc/robot/command/Depart.java b/src/main/java/frc/robot/command/Depart.java
new file mode 100644
index 0000000..4d101e9
--- /dev/null
+++ b/src/main/java/frc/robot/command/Depart.java
@@ -0,0 +1,47 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Depart extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public Depart(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.limit2()==true){
+      elevateur.vitesse(0);
+      elevateur.reset();
+    }
+    else{
+      elevateur.vitesse(-.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.limit2()==true;
+  }
+}
diff --git a/src/main/java/frc/robot/command/ElevateurManuel.java b/src/main/java/frc/robot/command/ElevateurManuel.java
new file mode 100644
index 0000000..c75b4f9
--- /dev/null
+++ b/src/main/java/frc/robot/command/ElevateurManuel.java
@@ -0,0 +1,48 @@
+// 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.command;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ElevateurManuel extends Command {
+  private DoubleSupplier doubleSupplier;
+  private Elevateur elevateur;
+  /** Creates a new ElevateurManuel. */
+  public ElevateurManuel(Elevateur elevateur,DoubleSupplier doubleSupplier) {
+    this.doubleSupplier = doubleSupplier;
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.limit2()==true){
+      elevateur.vitesse(0);
+    }
+    elevateur.vitesse(doubleSupplier.getAsDouble());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/command/L2.java
index 9804df8..36c6522 100644
--- a/src/main/java/frc/robot/command/L2.java
+++ b/src/main/java/frc/robot/command/L2.java
@@ -24,11 +24,11 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position(500)>=500){
+    if(elevateur.position()>=500){
       elevateur.vitesse(0);
     }
     else{
-      elevateur.vitesse(.5);
+      elevateur.vitesse(.3);
     }
   }
 
@@ -41,6 +41,6 @@ public class L2 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position(500)>=500;
+    return elevateur.position()>=500;
   }
 }
diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/command/L3.java
index e5ff0da..92dfd18 100644
--- a/src/main/java/frc/robot/command/L3.java
+++ b/src/main/java/frc/robot/command/L3.java
@@ -24,7 +24,7 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position(700)>=700){
+    if(elevateur.position()>=700){
       elevateur.vitesse(0);
     }
     else{
@@ -41,6 +41,6 @@ public class L3 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position(700)>=700;
+    return elevateur.position()>=700;
   }
 }
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
index b0b3c1c..df01def 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/command/L4.java
@@ -24,7 +24,7 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position(800)>=800){
+    if(elevateur.position()>=800){
       elevateur.vitesse(0);
     }
     else{
@@ -41,6 +41,6 @@ public class L4 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position(800)>=800;
+    return elevateur.position()>=800;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index e81d5ef..b37f6f0 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -13,16 +13,18 @@ public class Elevateur extends SubsystemBase {
   public Elevateur() {}
   final SparkMax  monte = new SparkMax(0, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(0);
-  public double position(double position){
+  public double position(){
     return monte.getEncoder().getPosition();
   }
   public void vitesse(double vitesse){
     monte.set(vitesse);
   }
-
-
-
- 
+  public boolean limit2(){
+    return limit2.get();
+  } 
+  public void reset(){
+    monte.getEncoder().setPosition(0);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 5ffa28596ced83cbdaeb04eaece20f208771b8c2 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 18:24:21 -0500
Subject: [PATCH 05/43] aspire

---
 src/main/java/frc/robot/subsystems/Pince.java | 44 +++++++++++++++++++
 1 file changed, 44 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/Pince.java

diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
new file mode 100644
index 0000000..e5219be
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -0,0 +1,44 @@
+// 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.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Pince extends SubsystemBase {
+  /** Creates a new Pince. */
+  public Pince() {}
+  final SparkMax coral = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax pivoti = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax algue1 = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax algue2 = new SparkMax(0, MotorType.kBrushless);
+  final DigitalInput limit6 = new DigitalInput(0);
+  public void aspirecoral(double vitesse){
+    coral.set(vitesse);
+  }
+public void pivote(double vitesse){
+  pivoti.set(vitesse);
+}
+public void aspirealgue(double vitesse){
+  algue2.set(vitesse);
+  algue1.set(-vitesse);
+}
+public double encodeurpivot(){
+  return pivoti.getEncoder().getPosition();
+}
+public void pisotion(){
+  limit6.get();
+}
+public void reset(){
+  pivoti.getEncoder().setPosition(0);
+}
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From 017f168b3c11aa032e2a37818a7324ff36848b78 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 18:46:42 -0500
Subject: [PATCH 06/43] Pince

---
 .../frc/robot/command/CoralAlgueExpire.java   | 43 +++++++++++++++++
 .../frc/robot/command/CoralAlgueInspire.java  | 43 +++++++++++++++++
 .../java/frc/robot/command/CoralExpire.java   | 41 ++++++++++++++++
 .../java/frc/robot/command/CoralInspire.java  | 41 ++++++++++++++++
 .../java/frc/robot/command/DepartPince.java   | 47 +++++++++++++++++++
 src/main/java/frc/robot/subsystems/Pince.java |  4 +-
 6 files changed, 217 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc/robot/command/CoralAlgueExpire.java
 create mode 100644 src/main/java/frc/robot/command/CoralAlgueInspire.java
 create mode 100644 src/main/java/frc/robot/command/CoralExpire.java
 create mode 100644 src/main/java/frc/robot/command/CoralInspire.java
 create mode 100644 src/main/java/frc/robot/command/DepartPince.java

diff --git a/src/main/java/frc/robot/command/CoralAlgueExpire.java b/src/main/java/frc/robot/command/CoralAlgueExpire.java
new file mode 100644
index 0000000..261619f
--- /dev/null
+++ b/src/main/java/frc/robot/command/CoralAlgueExpire.java
@@ -0,0 +1,43 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 CoralAlgueExpire extends Command {
+  private Pince pince;
+  /** Creates a new CoralAlgue. */
+  public CoralAlgueExpire(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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() {
+    pince.aspirecoral(.5);
+    pince.aspirealgue(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+    pince.aspirealgue(0); 
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/CoralAlgueInspire.java b/src/main/java/frc/robot/command/CoralAlgueInspire.java
new file mode 100644
index 0000000..d870285
--- /dev/null
+++ b/src/main/java/frc/robot/command/CoralAlgueInspire.java
@@ -0,0 +1,43 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 CoralAlgueInspire extends Command {
+  private Pince pince;
+  /** Creates a new CoralAlgue. */
+  public CoralAlgueInspire(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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() {
+    pince.aspirecoral(-.5);
+    pince.aspirealgue(-0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+    pince.aspirealgue(0); 
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/CoralExpire.java b/src/main/java/frc/robot/command/CoralExpire.java
new file mode 100644
index 0000000..f4fc090
--- /dev/null
+++ b/src/main/java/frc/robot/command/CoralExpire.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 CoralExpire extends Command {
+  private Pince pince;
+  /** Creates a new CoralAlgue. */
+  public CoralExpire(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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() {
+    pince.aspirecoral(.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/CoralInspire.java b/src/main/java/frc/robot/command/CoralInspire.java
new file mode 100644
index 0000000..6a3cc9e
--- /dev/null
+++ b/src/main/java/frc/robot/command/CoralInspire.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 CoralInspire extends Command {
+  private Pince pince;
+  /** Creates a new CoralAlgue. */
+  public CoralInspire(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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() {
+    pince.aspirecoral(-.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/DepartPince.java b/src/main/java/frc/robot/command/DepartPince.java
new file mode 100644
index 0000000..6e229f1
--- /dev/null
+++ b/src/main/java/frc/robot/command/DepartPince.java
@@ -0,0 +1,47 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 DepartPince extends Command {
+  private Pince pince;
+  /** Creates a new DepartPince. */
+  public DepartPince(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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(pince.position()==true){
+      pince.pivote(0);
+      pince.reset();
+    }
+    else{
+      pince.pivote(-.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index e5219be..9b44423 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -31,8 +31,8 @@ public void aspirealgue(double vitesse){
 public double encodeurpivot(){
   return pivoti.getEncoder().getPosition();
 }
-public void pisotion(){
-  limit6.get();
+public boolean position(){
+ return limit6.get();
 }
 public void reset(){
   pivoti.getEncoder().setPosition(0);

From 0fdfa4269d0ab9efff2fe29047013c8ad6a50fa8 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 18:54:42 -0500
Subject: [PATCH 07/43] elevateurise mieux

---
 src/main/java/frc/robot/command/L2.java | 8 ++++++--
 src/main/java/frc/robot/command/L3.java | 7 +++++--
 src/main/java/frc/robot/command/L4.java | 5 ++++-
 3 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/command/L2.java
index 36c6522..8f7287a 100644
--- a/src/main/java/frc/robot/command/L2.java
+++ b/src/main/java/frc/robot/command/L2.java
@@ -24,12 +24,16 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=500){
+    if(elevateur.position()>=500 && elevateur.position()<=510){
       elevateur.vitesse(0);
     }
+    else if(elevateur.position()>=510){
+      elevateur.vitesse(-0.3);
+    }
     else{
       elevateur.vitesse(.3);
     }
+
   }
 
   // Called once the command ends or is interrupted.
@@ -41,6 +45,6 @@ public class L2 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position()>=500;
+    return false;
   }
 }
diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/command/L3.java
index 92dfd18..8974af4 100644
--- a/src/main/java/frc/robot/command/L3.java
+++ b/src/main/java/frc/robot/command/L3.java
@@ -24,9 +24,12 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=700){
+    if(elevateur.position()>=700 && elevateur.position()<=710){
       elevateur.vitesse(0);
     }
+    else if(elevateur.position()>=510){
+      elevateur.vitesse(-0.5);
+    }
     else{
       elevateur.vitesse(.5);
     }
@@ -41,6 +44,6 @@ public class L3 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position()>=700;
+    return false;
   }
 }
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
index df01def..a688516 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/command/L4.java
@@ -24,9 +24,12 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=800){
+    if(elevateur.position()>=800 && elevateur.position()<=810){
       elevateur.vitesse(0);
     }
+    else if(elevateur.position()>=810){
+      elevateur.vitesse(-0.5);
+    }
     else{
       elevateur.vitesse(.5);
     }

From aafb2a62b5f53e43224cd5e6ea5afddf3f5aedb6 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 19:09:16 -0500
Subject: [PATCH 08/43] Algue

---
 ...CoralAlgueExpire.java => AlgueExpire.java} |  6 +--
 .../frc/robot/command/CoralAlgueInspire.java  | 15 +++++-
 src/main/java/frc/robot/command/L2Pince.java  | 47 +++++++++++++++++++
 src/main/java/frc/robot/subsystems/Pince.java |  6 +++
 4 files changed, 68 insertions(+), 6 deletions(-)
 rename src/main/java/frc/robot/command/{CoralAlgueExpire.java => AlgueExpire.java} (89%)
 create mode 100644 src/main/java/frc/robot/command/L2Pince.java

diff --git a/src/main/java/frc/robot/command/CoralAlgueExpire.java b/src/main/java/frc/robot/command/AlgueExpire.java
similarity index 89%
rename from src/main/java/frc/robot/command/CoralAlgueExpire.java
rename to src/main/java/frc/robot/command/AlgueExpire.java
index 261619f..00559dd 100644
--- a/src/main/java/frc/robot/command/CoralAlgueExpire.java
+++ b/src/main/java/frc/robot/command/AlgueExpire.java
@@ -8,10 +8,10 @@ import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
 
 /* 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 CoralAlgueExpire extends Command {
+public class AlgueExpire extends Command {
   private Pince pince;
   /** Creates a new CoralAlgue. */
-  public CoralAlgueExpire(Pince pince) {
+  public AlgueExpire(Pince pince) {
     this.pince = pince;
     addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -24,14 +24,12 @@ public class CoralAlgueExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(.5);
     pince.aspirealgue(0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirecoral(0);
     pince.aspirealgue(0); 
   }
 
diff --git a/src/main/java/frc/robot/command/CoralAlgueInspire.java b/src/main/java/frc/robot/command/CoralAlgueInspire.java
index d870285..64d0e1d 100644
--- a/src/main/java/frc/robot/command/CoralAlgueInspire.java
+++ b/src/main/java/frc/robot/command/CoralAlgueInspire.java
@@ -24,8 +24,19 @@ public class CoralAlgueInspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(-.5);
-    pince.aspirealgue(-0.5);
+    if(pince.emperagecoral()>8){
+    pince.aspirealgue(-0.5);  
+    }
+    else{
+      pince.aspirealgue(0);
+    }
+    if(pince.emperagealgue()>8){
+      pince.aspirealgue(0);
+     } 
+     else{
+      pince.aspirealgue(-0.5);
+      }
+    
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/command/L2Pince.java b/src/main/java/frc/robot/command/L2Pince.java
new file mode 100644
index 0000000..a39c34c
--- /dev/null
+++ b/src/main/java/frc/robot/command/L2Pince.java
@@ -0,0 +1,47 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 L2Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L2Pince(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=510){
+      pince.pivote(-0.3);
+    }
+    else{
+      pince.pivote(0.3);
+    }
+  }
+
+  // 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/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 9b44423..e2ec30e 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -36,6 +36,12 @@ public boolean position(){
 }
 public void reset(){
   pivoti.getEncoder().setPosition(0);
+}
+public double emperagecoral(){
+  return coral.getOutputCurrent();
+}
+public double emperagealgue(){
+  return algue1.getOutputCurrent();
 }
   @Override
   public void periodic() {

From d6420659e9703c278858b6ba706e6c85de1f8d56 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 19:10:42 -0500
Subject: [PATCH 09/43]

---
 src/main/java/frc/robot/command/CoralInspire.java | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/command/CoralInspire.java b/src/main/java/frc/robot/command/CoralInspire.java
index 6a3cc9e..a2de4a2 100644
--- a/src/main/java/frc/robot/command/CoralInspire.java
+++ b/src/main/java/frc/robot/command/CoralInspire.java
@@ -24,7 +24,12 @@ public class CoralInspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(-.5);
+    if(pince.emperagecoral()>8){
+    pince.aspirecoral(-.5);  
+    }
+    else{
+      pince.aspirecoral(.5);
+    }
   }
 
   // Called once the command ends or is interrupted.

From 1d1d6e962d880d6e5bf5f6e9375cd29f88646f45 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 19:19:34 -0500
Subject: [PATCH 10/43] pince

---
 .../frc/robot/command/CoralAlgueInspire.java  |  7 +--
 src/main/java/frc/robot/command/L2Pince.java  |  4 +-
 src/main/java/frc/robot/command/L3Pince.java  | 49 +++++++++++++++++++
 src/main/java/frc/robot/command/L4Pince.java  | 49 +++++++++++++++++++
 .../java/frc/robot/command/StationPince.java  | 49 +++++++++++++++++++
 5 files changed, 151 insertions(+), 7 deletions(-)
 create mode 100644 src/main/java/frc/robot/command/L3Pince.java
 create mode 100644 src/main/java/frc/robot/command/L4Pince.java
 create mode 100644 src/main/java/frc/robot/command/StationPince.java

diff --git a/src/main/java/frc/robot/command/CoralAlgueInspire.java b/src/main/java/frc/robot/command/CoralAlgueInspire.java
index 64d0e1d..4823613 100644
--- a/src/main/java/frc/robot/command/CoralAlgueInspire.java
+++ b/src/main/java/frc/robot/command/CoralAlgueInspire.java
@@ -24,12 +24,7 @@ public class CoralAlgueInspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral()>8){
-    pince.aspirealgue(-0.5);  
-    }
-    else{
-      pince.aspirealgue(0);
-    }
+    pince.aspirecoral(.5);
     if(pince.emperagealgue()>8){
       pince.aspirealgue(0);
      } 
diff --git a/src/main/java/frc/robot/command/L2Pince.java b/src/main/java/frc/robot/command/L2Pince.java
index a39c34c..febefc9 100644
--- a/src/main/java/frc/robot/command/L2Pince.java
+++ b/src/main/java/frc/robot/command/L2Pince.java
@@ -37,7 +37,9 @@ public class L2Pince extends Command {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/command/L3Pince.java b/src/main/java/frc/robot/command/L3Pince.java
new file mode 100644
index 0000000..a56a809
--- /dev/null
+++ b/src/main/java/frc/robot/command/L3Pince.java
@@ -0,0 +1,49 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 L3Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L3Pince(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=710){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/L4Pince.java b/src/main/java/frc/robot/command/L4Pince.java
new file mode 100644
index 0000000..b113b92
--- /dev/null
+++ b/src/main/java/frc/robot/command/L4Pince.java
@@ -0,0 +1,49 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 L4Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L4Pince(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=810){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/StationPince.java b/src/main/java/frc/robot/command/StationPince.java
new file mode 100644
index 0000000..9721590
--- /dev/null
+++ b/src/main/java/frc/robot/command/StationPince.java
@@ -0,0 +1,49 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 StationPince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public StationPince(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=910){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 7848c4aaf24c0b7b9c25ac0b292d4b7f4660c422 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 18:12:14 -0500
Subject: [PATCH 11/43] debug

---
 src/main/java/frc/robot/command/CoralAlgueInspire.java | 4 ++--
 src/main/java/frc/robot/command/CoralInspire.java      | 2 +-
 src/main/java/frc/robot/command/DepartPince.java       | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/command/CoralAlgueInspire.java b/src/main/java/frc/robot/command/CoralAlgueInspire.java
index 4823613..d8007fc 100644
--- a/src/main/java/frc/robot/command/CoralAlgueInspire.java
+++ b/src/main/java/frc/robot/command/CoralAlgueInspire.java
@@ -24,12 +24,12 @@ public class CoralAlgueInspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(.5);
+    pince.aspirecoral(-.5);
     if(pince.emperagealgue()>8){
       pince.aspirealgue(0);
      } 
      else{
-      pince.aspirealgue(-0.5);
+      pince.aspirealgue(0.5);
       }
     
   }
diff --git a/src/main/java/frc/robot/command/CoralInspire.java b/src/main/java/frc/robot/command/CoralInspire.java
index a2de4a2..3a9a7c7 100644
--- a/src/main/java/frc/robot/command/CoralInspire.java
+++ b/src/main/java/frc/robot/command/CoralInspire.java
@@ -25,7 +25,7 @@ public class CoralInspire extends Command {
   @Override
   public void execute() {
     if(pince.emperagecoral()>8){
-    pince.aspirecoral(-.5);  
+    pince.aspirecoral(0);  
     }
     else{
       pince.aspirecoral(.5);
diff --git a/src/main/java/frc/robot/command/DepartPince.java b/src/main/java/frc/robot/command/DepartPince.java
index 6e229f1..f47c0cb 100644
--- a/src/main/java/frc/robot/command/DepartPince.java
+++ b/src/main/java/frc/robot/command/DepartPince.java
@@ -29,7 +29,7 @@ public class DepartPince extends Command {
       pince.reset();
     }
     else{
-      pince.pivote(-.5);
+      pince.pivote(.5);
     }
   }
 

From eece0f47fa9071b3ea8b7d3022152c2a0e79d3f6 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 18:43:31 -0500
Subject: [PATCH 12/43] pince et elevateur

---
 src/main/java/frc/robot/command/Depart.java | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/main/java/frc/robot/command/Depart.java b/src/main/java/frc/robot/command/Depart.java
index 4d101e9..0980101 100644
--- a/src/main/java/frc/robot/command/Depart.java
+++ b/src/main/java/frc/robot/command/Depart.java
@@ -10,8 +10,10 @@ import frc.robot.subsystems.Elevateur;
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class Depart extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
   public Depart(Elevateur elevateur) {
+
     this.elevateur = elevateur;
     addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -31,6 +33,13 @@ public class Depart extends Command {
     else{
       elevateur.vitesse(-.5);
     }
+    if(pince.position()==true){
+      pince.pivote(0);
+      pince.reset();
+    }
+    else{
+      pince.pivote(.5);
+    }
   }
 
   // Called once the command ends or is interrupted.

From 1f17aaf4de27b582d69b0413ae9fed785abe18ef Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 18:55:06 -0500
Subject: [PATCH 13/43] pince+elevateur

---
 src/main/java/frc/robot/command/Depart.java  | 16 ++++---
 src/main/java/frc/robot/command/L2.java      | 18 +++++--
 src/main/java/frc/robot/command/L2Pince.java | 49 --------------------
 src/main/java/frc/robot/command/L3.java      | 17 ++++++-
 src/main/java/frc/robot/command/L3Pince.java | 49 --------------------
 src/main/java/frc/robot/command/L4.java      | 17 ++++++-
 src/main/java/frc/robot/command/L4Pince.java | 49 --------------------
 7 files changed, 55 insertions(+), 160 deletions(-)
 delete mode 100644 src/main/java/frc/robot/command/L2Pince.java
 delete mode 100644 src/main/java/frc/robot/command/L3Pince.java
 delete mode 100644 src/main/java/frc/robot/command/L4Pince.java

diff --git a/src/main/java/frc/robot/command/Depart.java b/src/main/java/frc/robot/command/Depart.java
index 0980101..5a9f11e 100644
--- a/src/main/java/frc/robot/command/Depart.java
+++ b/src/main/java/frc/robot/command/Depart.java
@@ -6,16 +6,17 @@ package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Pince;
 
 /* 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 Depart extends Command {
   private Elevateur elevateur;
   private Pince pince;
   /** Creates a new L2. */
-  public Depart(Elevateur elevateur) {
-
+  public Depart(Elevateur elevateur, Pince pince) {
+    this.pince = pince;
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,12 +34,14 @@ public class Depart extends Command {
     else{
       elevateur.vitesse(-.5);
     }
-    if(pince.position()==true){
+    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
       pince.pivote(0);
-      pince.reset();
+    }
+    else if(pince.encodeurpivot()>=910){
+      pince.pivote(-0.5);
     }
     else{
-      pince.pivote(.5);
+      pince.pivote(0.5);
     }
   }
 
@@ -46,6 +49,7 @@ public class Depart extends Command {
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/command/L2.java
index 8f7287a..dea2746 100644
--- a/src/main/java/frc/robot/command/L2.java
+++ b/src/main/java/frc/robot/command/L2.java
@@ -6,14 +6,17 @@ package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Pince;
 
 /* 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 L2 extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
-  public L2(Elevateur elevateur) {
+  public L2(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,13 +36,22 @@ public class L2 extends Command {
     else{
       elevateur.vitesse(.3);
     }
-
+    if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=510){
+      pince.pivote(-0.3);
+    }
+    else{
+      pince.pivote(0.3);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/command/L2Pince.java b/src/main/java/frc/robot/command/L2Pince.java
deleted file mode 100644
index febefc9..0000000
--- a/src/main/java/frc/robot/command/L2Pince.java
+++ /dev/null
@@ -1,49 +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.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
-
-/* 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 L2Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L2Pince(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
-    // 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(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=510){
-      pince.pivote(-0.3);
-    }
-    else{
-      pince.pivote(0.3);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/command/L3.java
index 8974af4..e83b28e 100644
--- a/src/main/java/frc/robot/command/L3.java
+++ b/src/main/java/frc/robot/command/L3.java
@@ -6,14 +6,17 @@ package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Pince;
 
 /* 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 L3 extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
-  public L3(Elevateur elevateur) {
+  public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,12 +36,22 @@ public class L3 extends Command {
     else{
       elevateur.vitesse(.5);
     }
+    if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=710){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/command/L3Pince.java b/src/main/java/frc/robot/command/L3Pince.java
deleted file mode 100644
index a56a809..0000000
--- a/src/main/java/frc/robot/command/L3Pince.java
+++ /dev/null
@@ -1,49 +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.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
-
-/* 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 L3Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L3Pince(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
-    // 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(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=710){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
index a688516..ec79016 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/command/L4.java
@@ -6,14 +6,17 @@ package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Pince;
 
 /* 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 L4 extends Command {
   private Elevateur elevateur;
+  private Pince pince;
   /** Creates a new L2. */
-  public L4(Elevateur elevateur) {
+  public L4(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,12 +36,22 @@ public class L4 extends Command {
     else{
       elevateur.vitesse(.5);
     }
+    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=810){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/command/L4Pince.java b/src/main/java/frc/robot/command/L4Pince.java
deleted file mode 100644
index b113b92..0000000
--- a/src/main/java/frc/robot/command/L4Pince.java
+++ /dev/null
@@ -1,49 +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.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
-
-/* 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 L4Pince extends Command {
-  private Pince pince;
-  /** Creates a new L2Pince. */
-  public L4Pince(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
-    // 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(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=810){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

From 126058e9d49a804835868fc8f73bf84bde136d61 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 19:01:51 -0500
Subject: [PATCH 14/43] touche

---
 src/main/java/frc/robot/RobotContainer.java | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..a66c3f2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,13 +6,27 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.command.AlgueExpire;
+import frc.robot.command.CoralAlgueInspire;
+import frc.robot.command.CoralExpire;
+import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
+  CommandXboxController manette = new CommandXboxController(0);
+  Pince pince = new Pince();
+  Elevateur elevateur = new Elevateur();
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    manette.a().whileTrue(new AlgueExpire(pince));
+    manette.b().whileTrue(new CoralAlgueInspire(pince));
+    manette.x().whileTrue(new CoralExpire(pince));
+    manette.y().whileTrue(new CoralExpire(pince));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

From afaec61f6d9558e473cecc9dbd39837356e99e26 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 19:19:14 -0500
Subject: [PATCH 15/43] touche pince+elevateur

---
 src/main/java/frc/robot/RobotContainer.java | 30 +++++++++++++++++----
 1 file changed, 25 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a66c3f2..f8ae3d7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,28 +4,48 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.command.AlgueExpire;
 import frc.robot.command.CoralAlgueInspire;
 import frc.robot.command.CoralExpire;
+import frc.robot.command.Depart;
+import frc.robot.command.DepartPince;
+import frc.robot.command.ElevateurManuel;
+import frc.robot.command.L2;
+import frc.robot.command.L3;
+import frc.robot.command.L4;
+import frc.robot.command.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
-  CommandXboxController manette = new CommandXboxController(0);
+  CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(0);
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
+  ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
   public RobotContainer() {
     configureBindings();
+    elevateur.setDefaultCommand(new RunCommand(()->{
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
+    }, elevateur));
   }
 
   private void configureBindings() {
-    manette.a().whileTrue(new AlgueExpire(pince));
-    manette.b().whileTrue(new CoralAlgueInspire(pince));
-    manette.x().whileTrue(new CoralExpire(pince));
-    manette.y().whileTrue(new CoralExpire(pince));
+    manette1.a().whileTrue(new AlgueExpire(pince));
+    manette1.b().whileTrue(new CoralAlgueInspire(pince));
+    manette1.x().whileTrue(new CoralExpire(pince));
+    manette1.y().whileTrue(new CoralExpire(pince));
+    manette1.povUp().toggleOnTrue(new L4(elevateur, pince));
+    manette1.povRight().toggleOnTrue(new L2(elevateur, pince));
+    manette1.povLeft().toggleOnTrue(new L3(elevateur, pince));
+    manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
+    manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
+    manette2.a().whileTrue(new StationPince(pince));
   }
 
   public Command getAutonomousCommand() {

From 4869632d6d22d6aac07f32dda373aede45909674 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 19:29:01 -0500
Subject: [PATCH 16/43] manette pince elevateur

---
 src/main/java/frc/robot/RobotContainer.java | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f8ae3d7..f2d6b80 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.command.AlgueExpire;
 import frc.robot.command.CoralAlgueInspire;
 import frc.robot.command.CoralExpire;
+import frc.robot.command.CoralInspire;
 import frc.robot.command.Depart;
 import frc.robot.command.DepartPince;
 import frc.robot.command.ElevateurManuel;
@@ -36,14 +37,16 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
+    // manette1
     manette1.a().whileTrue(new AlgueExpire(pince));
     manette1.b().whileTrue(new CoralAlgueInspire(pince));
-    manette1.x().whileTrue(new CoralExpire(pince));
+    manette1.x().whileTrue(new CoralInspire(pince));
     manette1.y().whileTrue(new CoralExpire(pince));
     manette1.povUp().toggleOnTrue(new L4(elevateur, pince));
     manette1.povRight().toggleOnTrue(new L2(elevateur, pince));
     manette1.povLeft().toggleOnTrue(new L3(elevateur, pince));
     manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
+    //manette2
     manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
     manette2.a().whileTrue(new StationPince(pince));
   }

From 20c95efe93ba8306b2b4930c8fc540110084d712 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 19:35:13 -0500
Subject: [PATCH 17/43]

---
 src/main/java/frc/robot/RobotContainer.java | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f2d6b80..bb8c7a6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -24,8 +24,7 @@ import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
-  CommandXboxController manette1 = new CommandXboxController(0);
-  CommandXboxController manette2 = new CommandXboxController(0);
+ 
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);

From ee2c9ff4b2d6a231c0ffed69059423e15c925809 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 19:37:35 -0500
Subject: [PATCH 18/43] manette

---
 src/main/java/frc/robot/RobotContainer.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bb8c7a6..f2d6b80 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -24,7 +24,8 @@ import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
- 
+  CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(0);
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);

From b3845852244322af7be020128903ebee78ead2e8 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 20:13:38 -0500
Subject: [PATCH 19/43] pince mieux

---
 src/main/java/frc/robot/RobotContainer.java      |  2 +-
 .../java/frc/robot/command/StationPince.java     | 16 ++++++++++++++--
 2 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f2d6b80..1e2ae3b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -48,7 +48,7 @@ public class RobotContainer {
     manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
     //manette2
     manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
-    manette2.a().whileTrue(new StationPince(pince));
+    manette2.a().whileTrue(new StationPince(pince,elevateur));
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/command/StationPince.java b/src/main/java/frc/robot/command/StationPince.java
index 9721590..2f72e07 100644
--- a/src/main/java/frc/robot/command/StationPince.java
+++ b/src/main/java/frc/robot/command/StationPince.java
@@ -5,15 +5,18 @@
 package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
 /* 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 StationPince extends Command {
   private Pince pince;
+  private Elevateur elevateur;
   /** Creates a new L2Pince. */
-  public StationPince(Pince pince) {
+  public StationPince(Pince pince,Elevateur elevateur) {
+    this.elevateur = elevateur;
     this.pince = pince;
-    addRequirements(pince);
+    addRequirements(pince,elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -33,6 +36,15 @@ public class StationPince extends Command {
     else{
       pince.pivote(0.5);
     }
+    if(elevateur.position()>=400 && elevateur.position()<=410){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=510){
+      elevateur.vitesse(-0.3);
+    }
+    else{
+      elevateur.vitesse(.3);
+    }
   }
 
   // Called once the command ends or is interrupted.

From 26a4b9f9a3827698295a4bff6ec8f2db4759eedb Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 20:15:07 -0500
Subject: [PATCH 20/43] touche

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

diff --git a/src/main/java/frc/robot/command/StationPince.java b/src/main/java/frc/robot/command/StationPince.java
index 2f72e07..bb26c6c 100644
--- a/src/main/java/frc/robot/command/StationPince.java
+++ b/src/main/java/frc/robot/command/StationPince.java
@@ -39,7 +39,7 @@ public class StationPince extends Command {
     if(elevateur.position()>=400 && elevateur.position()<=410){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=510){
+    else if(elevateur.position()>=410){
       elevateur.vitesse(-0.3);
     }
     else{

From 06abfa4dbbc82bc70666961719e5a685f2026be9 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 30 Jan 2025 20:18:15 -0500
Subject: [PATCH 21/43] Named Commands

---
 src/main/java/frc/robot/RobotContainer.java       | 14 ++++++++++++++
 src/main/java/frc/robot/command/CoralExpire.java  |  2 +-
 src/main/java/frc/robot/command/StationPince.java |  1 +
 3 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1e2ae3b..fbb1cd2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,7 +4,12 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -24,8 +29,10 @@ import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
+  
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(0);
+  private final SendableChooser<Command> autoChooser;
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -34,6 +41,13 @@ public class RobotContainer {
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
+    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+    NamedCommands.registerCommand("L4", new L4(elevateur, pince));
+    NamedCommands.registerCommand("L3", new L3(elevateur, pince));
+    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
+    NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
+    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
+    autoChooser = AutoBuilder.buildAutoChooser();
   }
 
   private void configureBindings() {
diff --git a/src/main/java/frc/robot/command/CoralExpire.java b/src/main/java/frc/robot/command/CoralExpire.java
index f4fc090..ec53a3d 100644
--- a/src/main/java/frc/robot/command/CoralExpire.java
+++ b/src/main/java/frc/robot/command/CoralExpire.java
@@ -24,7 +24,7 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(.5);
+    pince.aspirecoral(-.5);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/command/StationPince.java b/src/main/java/frc/robot/command/StationPince.java
index bb26c6c..2f00f4f 100644
--- a/src/main/java/frc/robot/command/StationPince.java
+++ b/src/main/java/frc/robot/command/StationPince.java
@@ -10,6 +10,7 @@ import frc.robot.subsystems.Pince;
 
 /* 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 StationPince extends Command {
+  
   private Pince pince;
   private Elevateur elevateur;
   /** Creates a new L2Pince. */

From 210d2197930a06606d7e578b4c0c515ee4b34f17 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Feb 2025 17:49:34 -0500
Subject: [PATCH 22/43] simulation

---
 simgui-ds.json                                | 92 +++++++++++++++++++
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 .../java/frc/robot/subsystems/Elevateur.java  |  4 +-
 .../java/frc/robot/subsystems/Grimpeur.java   |  4 +-
 4 files changed, 97 insertions(+), 5 deletions(-)
 create mode 100644 simgui-ds.json

diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 0000000..73cc713
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index fbb1cd2..0cd68f6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -31,7 +31,7 @@ import frc.robot.subsystems.Pince;
 public class RobotContainer {
   
   CommandXboxController manette1 = new CommandXboxController(0);
-  CommandXboxController manette2 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(1);
   private final SendableChooser<Command> autoChooser;
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index b37f6f0..8caad7a 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -11,8 +11,8 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 public class Elevateur extends SubsystemBase {
   /** Creates a new Elevateur. */
   public Elevateur() {}
-  final SparkMax  monte = new SparkMax(0, MotorType.kBrushless);
-  final DigitalInput limit2 = new DigitalInput(0);
+  final SparkMax  monte = new SparkMax(3, MotorType.kBrushless);
+  final DigitalInput limit2 = new DigitalInput(1);
   public double position(){
     return monte.getEncoder().getPosition();
   }
diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
index 7e55e0b..14b4fb1 100644
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Grimpeur. */
   public Grimpeur() {}
-  final Spark grimpeur = new Spark(0);
-  final DigitalInput limit1 = new DigitalInput(0);
+  final Spark grimpeur = new Spark(2);
+  final DigitalInput limit1 = new DigitalInput(3);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);
   }

From 6f75b9cc4253a3259223381c480bd4b9bb02f3df Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Feb 2025 17:51:57 -0500
Subject: [PATCH 23/43] id

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 src/main/java/frc/robot/subsystems/Pince.java | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0cd68f6..6c56874 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -66,6 +66,6 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    return autoChooser.getSelected();
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index e2ec30e..50bcfe7 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -13,11 +13,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Pince extends SubsystemBase {
   /** Creates a new Pince. */
   public Pince() {}
-  final SparkMax coral = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax pivoti = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax algue1 = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax algue2 = new SparkMax(0, MotorType.kBrushless);
-  final DigitalInput limit6 = new DigitalInput(0);
+  final SparkMax coral = new SparkMax(1, MotorType.kBrushless);
+  final SparkMax pivoti = new SparkMax(2, MotorType.kBrushless);
+  final SparkMax algue1 = new SparkMax(4, MotorType.kBrushless);
+  final SparkMax algue2 = new SparkMax(5, MotorType.kBrushless);
+  final DigitalInput limit6 = new DigitalInput(2);
   public void aspirecoral(double vitesse){
     coral.set(vitesse);
   }

From 44f6030e992e43797db2a51ccd20cb75660d90ba Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Feb 2025 18:19:29 -0500
Subject: [PATCH 24/43] simulation fait

---
 simgui-ds.json                              | 10 ++++++++++
 src/main/java/frc/robot/RobotContainer.java | 16 ++++++++--------
 src/main/java/frc/robot/command/L4.java     |  6 +++---
 3 files changed, 21 insertions(+), 11 deletions(-)

diff --git a/simgui-ds.json b/simgui-ds.json
index 73cc713..1ba71ce 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,4 +1,14 @@
 {
+  "Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6c56874..ae083bf 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -32,7 +32,7 @@ public class RobotContainer {
   
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(1);
-  private final SendableChooser<Command> autoChooser;
+ // private final SendableChooser<Command> autoChooser;
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -41,13 +41,13 @@ public class RobotContainer {
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
-    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+   /*  NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
     NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
     NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
-    autoChooser = AutoBuilder.buildAutoChooser();
+    autoChooser = AutoBuilder.buildAutoChooser();*/
   }
 
   private void configureBindings() {
@@ -56,16 +56,16 @@ public class RobotContainer {
     manette1.b().whileTrue(new CoralAlgueInspire(pince));
     manette1.x().whileTrue(new CoralInspire(pince));
     manette1.y().whileTrue(new CoralExpire(pince));
-    manette1.povUp().toggleOnTrue(new L4(elevateur, pince));
-    manette1.povRight().toggleOnTrue(new L2(elevateur, pince));
-    manette1.povLeft().toggleOnTrue(new L3(elevateur, pince));
-    manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
+    manette1.povUp().whileTrue(new L4(elevateur, pince));
+    manette1.povRight().whileTrue(new L2(elevateur, pince));
+    manette1.povLeft().whileTrue(new L3(elevateur, pince));
+    manette1.povDown().whileTrue(new Depart(elevateur, pince));
     //manette2
     manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
     manette2.a().whileTrue(new StationPince(pince,elevateur));
   }
 
   public Command getAutonomousCommand() {
-    return autoChooser.getSelected();
+    return null;// autoChooser.getSelected();
   }
 }
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
index ec79016..b14d515 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/command/L4.java
@@ -27,7 +27,7 @@ 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()<=810){
+    if(elevateur.position()>=800 && elevateur.position()<=809){
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=810){
@@ -36,7 +36,7 @@ public class L4 extends Command {
     else{
       elevateur.vitesse(.5);
     }
-    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=810){
@@ -57,6 +57,6 @@ public class L4 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position()>=800;
+    return false;
   }
 }

From 8aca411a238e999a29aa68657d84b0628c62cb63 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Feb 2025 18:26:54 -0500
Subject: [PATCH 25/43]  id

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

diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
index 14b4fb1..a36f37f 100644
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Grimpeur. */
   public Grimpeur() {}
-  final Spark grimpeur = new Spark(2);
+  final Spark grimpeur = new Spark(10);
   final DigitalInput limit1 = new DigitalInput(3);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);

From 9cd08cf07c21d9aa8bf0cf9e2b248aabb9ee260a Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Feb 2025 18:32:34 -0500
Subject: [PATCH 26/43]

---
 src/main/java/frc/robot/subsystems/Grimpeur.java | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
index a36f37f..e20eef5 100644
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -4,14 +4,17 @@
 
 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.motorcontrol.Spark;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Grimpeur. */
   public Grimpeur() {}
-  final Spark grimpeur = new Spark(10);
+  final SparkMax grimpeur = new SparkMax(1,MotorType.kBrushless);
   final DigitalInput limit1 = new DigitalInput(3);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);

From 2260580c8181aa4638c8518acaf05fc13ff40cfd Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Feb 2025 18:37:36 -0500
Subject: [PATCH 27/43] marche mieux

---
 .../java/frc/robot/subsystems/Grimpeur.java   | 29 -------------------
 1 file changed, 29 deletions(-)
 delete mode 100644 src/main/java/frc/robot/subsystems/Grimpeur.java

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 e20eef5..0000000
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ /dev/null
@@ -1,29 +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.wpilibj2.command.SubsystemBase;
-
-public class Grimpeur extends SubsystemBase {
-  /** Creates a new Grimpeur. */
-  public Grimpeur() {}
-  final SparkMax grimpeur = new SparkMax(1,MotorType.kBrushless);
-  final DigitalInput limit1 = new DigitalInput(3);
-  public void grimpe(double vitesse){
-    grimpeur.set(vitesse);
-  }
-  final void stop(){
-    limit1.get();
-  }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

From 451d3c6e208e1c7e7c287fc9d1d28ba0827a3559 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 6 Feb 2025 17:50:24 -0500
Subject: [PATCH 28/43] command -> commands

---
 src/main/java/frc/robot/RobotContainer.java   | 22 +++++++++----------
 .../{command => commands}/AlgueExpire.java    |  2 +-
 .../CoralAlgueInspire.java                    |  2 +-
 .../{command => commands}/CoralExpire.java    |  2 +-
 .../{command => commands}/CoralInspire.java   |  2 +-
 .../robot/{command => commands}/Depart.java   |  2 +-
 .../{command => commands}/DepartPince.java    |  2 +-
 .../ElevateurManuel.java                      |  2 +-
 .../frc/robot/{command => commands}/L2.java   |  2 +-
 .../frc/robot/{command => commands}/L3.java   |  2 +-
 .../frc/robot/{command => commands}/L4.java   |  2 +-
 .../{command => commands}/StationPince.java   |  2 +-
 12 files changed, 22 insertions(+), 22 deletions(-)
 rename src/main/java/frc/robot/{command => commands}/AlgueExpire.java (97%)
 rename src/main/java/frc/robot/{command => commands}/CoralAlgueInspire.java (98%)
 rename src/main/java/frc/robot/{command => commands}/CoralExpire.java (97%)
 rename src/main/java/frc/robot/{command => commands}/CoralInspire.java (97%)
 rename src/main/java/frc/robot/{command => commands}/Depart.java (98%)
 rename src/main/java/frc/robot/{command => commands}/DepartPince.java (97%)
 rename src/main/java/frc/robot/{command => commands}/ElevateurManuel.java (98%)
 rename src/main/java/frc/robot/{command => commands}/L2.java (98%)
 rename src/main/java/frc/robot/{command => commands}/L3.java (98%)
 rename src/main/java/frc/robot/{command => commands}/L4.java (98%)
 rename src/main/java/frc/robot/{command => commands}/StationPince.java (98%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ae083bf..9ae7628 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -14,17 +14,17 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.command.AlgueExpire;
-import frc.robot.command.CoralAlgueInspire;
-import frc.robot.command.CoralExpire;
-import frc.robot.command.CoralInspire;
-import frc.robot.command.Depart;
-import frc.robot.command.DepartPince;
-import frc.robot.command.ElevateurManuel;
-import frc.robot.command.L2;
-import frc.robot.command.L3;
-import frc.robot.command.L4;
-import frc.robot.command.StationPince;
+import frc.robot.commands.AlgueExpire;
+import frc.robot.commands.CoralAlgueInspire;
+import frc.robot.commands.CoralExpire;
+import frc.robot.commands.CoralInspire;
+import frc.robot.commands.Depart;
+import frc.robot.commands.DepartPince;
+import frc.robot.commands.ElevateurManuel;
+import frc.robot.commands.L2;
+import frc.robot.commands.L3;
+import frc.robot.commands.L4;
+import frc.robot.commands.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
diff --git a/src/main/java/frc/robot/command/AlgueExpire.java b/src/main/java/frc/robot/commands/AlgueExpire.java
similarity index 97%
rename from src/main/java/frc/robot/command/AlgueExpire.java
rename to src/main/java/frc/robot/commands/AlgueExpire.java
index 00559dd..5b34608 100644
--- a/src/main/java/frc/robot/command/AlgueExpire.java
+++ b/src/main/java/frc/robot/commands/AlgueExpire.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
diff --git a/src/main/java/frc/robot/command/CoralAlgueInspire.java b/src/main/java/frc/robot/commands/CoralAlgueInspire.java
similarity index 98%
rename from src/main/java/frc/robot/command/CoralAlgueInspire.java
rename to src/main/java/frc/robot/commands/CoralAlgueInspire.java
index d8007fc..7382f67 100644
--- a/src/main/java/frc/robot/command/CoralAlgueInspire.java
+++ b/src/main/java/frc/robot/commands/CoralAlgueInspire.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
diff --git a/src/main/java/frc/robot/command/CoralExpire.java b/src/main/java/frc/robot/commands/CoralExpire.java
similarity index 97%
rename from src/main/java/frc/robot/command/CoralExpire.java
rename to src/main/java/frc/robot/commands/CoralExpire.java
index ec53a3d..8acf1a3 100644
--- a/src/main/java/frc/robot/command/CoralExpire.java
+++ b/src/main/java/frc/robot/commands/CoralExpire.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
diff --git a/src/main/java/frc/robot/command/CoralInspire.java b/src/main/java/frc/robot/commands/CoralInspire.java
similarity index 97%
rename from src/main/java/frc/robot/command/CoralInspire.java
rename to src/main/java/frc/robot/commands/CoralInspire.java
index 3a9a7c7..80f14b9 100644
--- a/src/main/java/frc/robot/command/CoralInspire.java
+++ b/src/main/java/frc/robot/commands/CoralInspire.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
diff --git a/src/main/java/frc/robot/command/Depart.java b/src/main/java/frc/robot/commands/Depart.java
similarity index 98%
rename from src/main/java/frc/robot/command/Depart.java
rename to src/main/java/frc/robot/commands/Depart.java
index 5a9f11e..4d53236 100644
--- a/src/main/java/frc/robot/command/Depart.java
+++ b/src/main/java/frc/robot/commands/Depart.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
diff --git a/src/main/java/frc/robot/command/DepartPince.java b/src/main/java/frc/robot/commands/DepartPince.java
similarity index 97%
rename from src/main/java/frc/robot/command/DepartPince.java
rename to src/main/java/frc/robot/commands/DepartPince.java
index f47c0cb..a8c621e 100644
--- a/src/main/java/frc/robot/command/DepartPince.java
+++ b/src/main/java/frc/robot/commands/DepartPince.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
diff --git a/src/main/java/frc/robot/command/ElevateurManuel.java b/src/main/java/frc/robot/commands/ElevateurManuel.java
similarity index 98%
rename from src/main/java/frc/robot/command/ElevateurManuel.java
rename to src/main/java/frc/robot/commands/ElevateurManuel.java
index c75b4f9..0a52684 100644
--- a/src/main/java/frc/robot/command/ElevateurManuel.java
+++ b/src/main/java/frc/robot/commands/ElevateurManuel.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import java.util.function.DoubleSupplier;
 
diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/commands/L2.java
similarity index 98%
rename from src/main/java/frc/robot/command/L2.java
rename to src/main/java/frc/robot/commands/L2.java
index dea2746..179742a 100644
--- a/src/main/java/frc/robot/command/L2.java
+++ b/src/main/java/frc/robot/commands/L2.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/commands/L3.java
similarity index 98%
rename from src/main/java/frc/robot/command/L3.java
rename to src/main/java/frc/robot/commands/L3.java
index e83b28e..273a609 100644
--- a/src/main/java/frc/robot/command/L3.java
+++ b/src/main/java/frc/robot/commands/L3.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/commands/L4.java
similarity index 98%
rename from src/main/java/frc/robot/command/L4.java
rename to src/main/java/frc/robot/commands/L4.java
index b14d515..b55fc3d 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/commands/L4.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
diff --git a/src/main/java/frc/robot/command/StationPince.java b/src/main/java/frc/robot/commands/StationPince.java
similarity index 98%
rename from src/main/java/frc/robot/command/StationPince.java
rename to src/main/java/frc/robot/commands/StationPince.java
index 2f00f4f..f0c3ccf 100644
--- a/src/main/java/frc/robot/command/StationPince.java
+++ b/src/main/java/frc/robot/commands/StationPince.java
@@ -2,7 +2,7 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;

From 319c370c6e42a96b5c2aa9e7fe880ab2967743d3 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 10 Feb 2025 19:49:13 -0500
Subject: [PATCH 29/43] Bougie(pas fini)

---
 src/main/java/frc/robot/RobotContainer.java   | 25 +++++--------
 .../java/frc/robot/commands/CoralExpire.java  | 13 +++++--
 .../java/frc/robot/commands/CoralInspire.java |  9 +++--
 .../java/frc/robot/subsystems/Bougie.java     | 37 +++++++++++++++++++
 4 files changed, 63 insertions(+), 21 deletions(-)
 create mode 100644 src/main/java/frc/robot/subsystems/Bougie.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9ae7628..886718b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,14 +4,9 @@
 
 package frc.robot;
 
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.AlgueExpire;
@@ -27,12 +22,12 @@ import frc.robot.commands.L4;
 import frc.robot.commands.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
 public class RobotContainer {
   
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(1);
- // private final SendableChooser<Command> autoChooser;
+  Bougie bougie = new Bougie();
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -41,21 +36,21 @@ public class RobotContainer {
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
-   /*  NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+     NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
-    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
-    NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
+    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
+    NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
-    autoChooser = AutoBuilder.buildAutoChooser();*/
+
   }
 
   private void configureBindings() {
     // manette1
     manette1.a().whileTrue(new AlgueExpire(pince));
     manette1.b().whileTrue(new CoralAlgueInspire(pince));
-    manette1.x().whileTrue(new CoralInspire(pince));
-    manette1.y().whileTrue(new CoralExpire(pince));
+    manette1.x().whileTrue(new CoralInspire(pince,bougie));
+    manette1.y().whileTrue(new CoralExpire(pince,bougie));
     manette1.povUp().whileTrue(new L4(elevateur, pince));
     manette1.povRight().whileTrue(new L2(elevateur, pince));
     manette1.povLeft().whileTrue(new L3(elevateur, pince));
@@ -64,8 +59,8 @@ public class RobotContainer {
     manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
     manette2.a().whileTrue(new StationPince(pince,elevateur));
   }
-
+  
   public Command getAutonomousCommand() {
-    return null;// autoChooser.getSelected();
+    return Command()
   }
 }
diff --git a/src/main/java/frc/robot/commands/CoralExpire.java b/src/main/java/frc/robot/commands/CoralExpire.java
index 8acf1a3..ebb90db 100644
--- a/src/main/java/frc/robot/commands/CoralExpire.java
+++ b/src/main/java/frc/robot/commands/CoralExpire.java
@@ -6,14 +6,16 @@ package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
 /* 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 CoralExpire extends Command {
   private Pince pince;
+  Bougie bougie;
   /** Creates a new CoralAlgue. */
-  public CoralExpire(Pince pince) {
+  public CoralExpire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,7 +26,12 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(pince.emperagecoral() > 8){
+      pince.aspirecoral(-.5);
+   }
+   else{
     pince.aspirecoral(-.5);
+    bougie.Rouge();}
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/CoralInspire.java b/src/main/java/frc/robot/commands/CoralInspire.java
index 80f14b9..5255d2f 100644
--- a/src/main/java/frc/robot/commands/CoralInspire.java
+++ b/src/main/java/frc/robot/commands/CoralInspire.java
@@ -6,14 +6,16 @@ package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Bougie;
 /* 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 CoralInspire extends Command {
   private Pince pince;
+  Bougie bougie;
   /** Creates a new CoralAlgue. */
-  public CoralInspire(Pince pince) {
+  public CoralInspire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -25,6 +27,7 @@ public class CoralInspire extends Command {
   @Override
   public void execute() {
     if(pince.emperagecoral()>8){
+    bougie.Vert();
     pince.aspirecoral(0);  
     }
     else{
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
new file mode 100644
index 0000000..5dfcf91
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -0,0 +1,37 @@
+// 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.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdleConfiguration;
+import com.ctre.phoenix.led.RainbowAnimation;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Bougie extends SubsystemBase {
+  CANdle candle = new CANdle(5);
+  CANdleConfiguration config = new CANdleConfiguration();
+  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
+  /** Creates a new Bougie. */
+  public Bougie() {
+    config.brightnessScalar = 0.5;
+    candle.configAllSettings(config);
+  }
+  public void Rouge() {
+   candle.setLEDs(255, 0, 0);
+  }
+  public void Vert() {
+   candle.setLEDs(0, 255, 0);
+  }
+  public void Bleu() {
+   candle.setLEDs(0, 0, 255);
+  }
+  public void RainBow(){candle.animate(rainbowAnim);}
+  public void RainBowStop(){candle.animate(null);}
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From 53adcf57011187190c80424b7147cf07df587b80 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 10 Feb 2025 19:53:34 -0500
Subject: [PATCH 30/43] Bougie finie

---
 src/main/java/frc/robot/RobotContainer.java        | 3 ++-
 src/main/java/frc/robot/commands/CoralInspire.java | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 886718b..0295b88 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,6 +7,7 @@ package frc.robot;
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.AlgueExpire;
@@ -61,6 +62,6 @@ public class RobotContainer {
   }
   
   public Command getAutonomousCommand() {
-    return Command()
+    return Commands.print("No autonomous command configured");
   }
 }
diff --git a/src/main/java/frc/robot/commands/CoralInspire.java b/src/main/java/frc/robot/commands/CoralInspire.java
index 5255d2f..2ec67f3 100644
--- a/src/main/java/frc/robot/commands/CoralInspire.java
+++ b/src/main/java/frc/robot/commands/CoralInspire.java
@@ -32,6 +32,7 @@ public class CoralInspire extends Command {
     }
     else{
       pince.aspirecoral(.5);
+      bougie.Bleu();
     }
   }
 

From 0e04704942223878f9f262179244a10795fb4e0f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 11 Feb 2025 19:22:25 -0500
Subject: [PATCH 31/43] leds pince

---
 src/main/java/frc/robot/RobotContainer.java   |  6 +++---
 .../java/frc/robot/commands/AlgueExpire.java  | 16 +++++++++++---
 .../frc/robot/commands/CoralAlgueInspire.java |  8 +++++--
 .../java/frc/robot/commands/CoralExpire.java  |  2 +-
 .../java/frc/robot/commands/CoralInspire.java |  1 -
 src/main/java/frc/robot/commands/L2.java      |  3 +++
 src/main/java/frc/robot/commands/L3.java      |  3 ++-
 src/main/java/frc/robot/commands/L4.java      |  1 +
 .../java/frc/robot/subsystems/Bougie.java     | 21 ++++++++++++++++---
 9 files changed, 47 insertions(+), 14 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0295b88..57b9cea 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -42,14 +42,14 @@ public class RobotContainer {
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
     NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
     NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
-    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
+    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
 
   }
 
   private void configureBindings() {
     // manette1
-    manette1.a().whileTrue(new AlgueExpire(pince));
-    manette1.b().whileTrue(new CoralAlgueInspire(pince));
+    manette1.a().whileTrue(new AlgueExpire(pince,bougie));
+    manette1.b().whileTrue(new CoralAlgueInspire(pince,bougie));
     manette1.x().whileTrue(new CoralInspire(pince,bougie));
     manette1.y().whileTrue(new CoralExpire(pince,bougie));
     manette1.povUp().whileTrue(new L4(elevateur, pince));
diff --git a/src/main/java/frc/robot/commands/AlgueExpire.java b/src/main/java/frc/robot/commands/AlgueExpire.java
index 5b34608..077fa7d 100644
--- a/src/main/java/frc/robot/commands/AlgueExpire.java
+++ b/src/main/java/frc/robot/commands/AlgueExpire.java
@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Pince;
 
 /* 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 AlgueExpire extends Command {
   private Pince pince;
+  private Bougie bougie;
   /** Creates a new CoralAlgue. */
-  public AlgueExpire(Pince pince) {
+  public AlgueExpire(Pince pince,Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,7 +27,14 @@ public class AlgueExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirealgue(0.5);
+    if(pince.emperagealgue()>8){
+      pince.aspirealgue(0.5);
+    }
+    else{
+      pince.aspirealgue(0.5);
+      bougie.Jaune();
+    }
+    
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/CoralAlgueInspire.java b/src/main/java/frc/robot/commands/CoralAlgueInspire.java
index 7382f67..4697090 100644
--- a/src/main/java/frc/robot/commands/CoralAlgueInspire.java
+++ b/src/main/java/frc/robot/commands/CoralAlgueInspire.java
@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Pince;
 
 /* 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 CoralAlgueInspire extends Command {
   private Pince pince;
+  private Bougie bougie;
   /** Creates a new CoralAlgue. */
-  public CoralAlgueInspire(Pince pince) {
+  public CoralAlgueInspire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    addRequirements(pince);
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,6 +30,7 @@ public class CoralAlgueInspire extends Command {
     pince.aspirecoral(-.5);
     if(pince.emperagealgue()>8){
       pince.aspirealgue(0);
+      bougie.Bleu();
      } 
      else{
       pince.aspirealgue(0.5);
diff --git a/src/main/java/frc/robot/commands/CoralExpire.java b/src/main/java/frc/robot/commands/CoralExpire.java
index ebb90db..c2932e5 100644
--- a/src/main/java/frc/robot/commands/CoralExpire.java
+++ b/src/main/java/frc/robot/commands/CoralExpire.java
@@ -31,7 +31,7 @@ public class CoralExpire extends Command {
    }
    else{
     pince.aspirecoral(-.5);
-    bougie.Rouge();}
+    bougie.Jaune();}
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/CoralInspire.java b/src/main/java/frc/robot/commands/CoralInspire.java
index 2ec67f3..fc249ba 100644
--- a/src/main/java/frc/robot/commands/CoralInspire.java
+++ b/src/main/java/frc/robot/commands/CoralInspire.java
@@ -27,7 +27,6 @@ public class CoralInspire extends Command {
   @Override
   public void execute() {
     if(pince.emperagecoral()>8){
-    bougie.Vert();
     pince.aspirecoral(0);  
     }
     else{
diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java
index 179742a..ca5b8ec 100644
--- a/src/main/java/frc/robot/commands/L2.java
+++ b/src/main/java/frc/robot/commands/L2.java
@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
@@ -38,6 +39,7 @@ public class L2 extends Command {
     }
     if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
       pince.pivote(0);
+     
     }
     else if(pince.encodeurpivot()>=510){
       pince.pivote(-0.3);
@@ -45,6 +47,7 @@ public class L2 extends Command {
     else{
       pince.pivote(0.3);
     }
+
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java
index 273a609..c933027 100644
--- a/src/main/java/frc/robot/commands/L3.java
+++ b/src/main/java/frc/robot/commands/L3.java
@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
@@ -15,7 +16,7 @@ public class L3 extends Command {
   /** Creates a new L2. */
   public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
-    this.pince = pince;
+    this.pince = pince;  
     addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java
index b55fc3d..9cbcaf0 100644
--- a/src/main/java/frc/robot/commands/L4.java
+++ b/src/main/java/frc/robot/commands/L4.java
@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index 5dfcf91..98bdf49 100644
--- a/src/main/java/frc/robot/subsystems/Bougie.java
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -20,14 +20,29 @@ public class Bougie extends SubsystemBase {
     candle.configAllSettings(config);
   }
   public void Rouge() {
-   candle.setLEDs(255, 0, 0);
+   candle.setLEDs(255, 0, 0,0,8,8);
+   candle.setLEDs(255, 0, 0,0,24,8);
+   candle.setLEDs(255, 0, 0,0,40,8);
+   candle.setLEDs(255, 0, 0,0,56,8);
   }
   public void Vert() {
-   candle.setLEDs(0, 255, 0);
+   candle.setLEDs(0, 255, 0,0,8,8);
+   candle.setLEDs(0, 255, 0,0,24,8);
+   candle.setLEDs(0, 255, 0,0,40,8);
+   candle.setLEDs(0, 255, 0,0,56,8);
   }
   public void Bleu() {
-   candle.setLEDs(0, 0, 255);
+    candle.setLEDs(0, 0, 255,0,16,8);
+    candle.setLEDs(0, 0, 255,0,32,8);
+    candle.setLEDs(0, 0, 255,0,48,8);
+    candle.setLEDs(0, 0, 255,0,64,8);
   }
+   public void Jaune() {
+   candle.setLEDs(255, 215, 0,0,16,8);
+   candle.setLEDs(255, 215, 0,0,32,8);
+   candle.setLEDs(255, 215, 0,0,48,8);
+   candle.setLEDs(255, 215, 0,0,64,8);
+   }
   public void RainBow(){candle.animate(rainbowAnim);}
   public void RainBowStop(){candle.animate(null);}
   @Override

From c1bdf0aab733e5edd809263f6e6c1598762a60b7 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 12 Feb 2025 16:54:47 -0500
Subject: [PATCH 32/43] modif

---
 src/main/java/frc/robot/commands/AlgueExpire.java | 2 +-
 src/main/java/frc/robot/commands/CoralExpire.java | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/AlgueExpire.java b/src/main/java/frc/robot/commands/AlgueExpire.java
index 077fa7d..c40fab2 100644
--- a/src/main/java/frc/robot/commands/AlgueExpire.java
+++ b/src/main/java/frc/robot/commands/AlgueExpire.java
@@ -28,7 +28,7 @@ public class AlgueExpire extends Command {
   @Override
   public void execute() {
     if(pince.emperagealgue()>8){
-      pince.aspirealgue(0.5);
+      pince.aspirealgue(0);
     }
     else{
       pince.aspirealgue(0.5);
diff --git a/src/main/java/frc/robot/commands/CoralExpire.java b/src/main/java/frc/robot/commands/CoralExpire.java
index c2932e5..15ec3c8 100644
--- a/src/main/java/frc/robot/commands/CoralExpire.java
+++ b/src/main/java/frc/robot/commands/CoralExpire.java
@@ -27,7 +27,7 @@ public class CoralExpire extends Command {
   @Override
   public void execute() {
     if(pince.emperagecoral() > 8){
-      pince.aspirecoral(-.5);
+      pince.aspirecoral(0);
    }
    else{
     pince.aspirecoral(-.5);

From 16277705723d438e53e2d7784cfff447f0dee50e Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 20 Feb 2025 20:17:00 -0500
Subject: [PATCH 33/43] code mieux

---
 .../java/frc/robot/commands/AlgueExpire.java  |  2 +-
 .../java/frc/robot/commands/PinceManuel.java  | 41 +++++++++++++++++++
 2 files changed, 42 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc/robot/commands/PinceManuel.java

diff --git a/src/main/java/frc/robot/commands/AlgueExpire.java b/src/main/java/frc/robot/commands/AlgueExpire.java
index c40fab2..ab177d4 100644
--- a/src/main/java/frc/robot/commands/AlgueExpire.java
+++ b/src/main/java/frc/robot/commands/AlgueExpire.java
@@ -31,7 +31,7 @@ public class AlgueExpire extends Command {
       pince.aspirealgue(0);
     }
     else{
-      pince.aspirealgue(0.5);
+      pince.aspirealgue(-0.5);
       bougie.Jaune();
     }
     
diff --git a/src/main/java/frc/robot/commands/PinceManuel.java b/src/main/java/frc/robot/commands/PinceManuel.java
new file mode 100644
index 0000000..526e743
--- /dev/null
+++ b/src/main/java/frc/robot/commands/PinceManuel.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 PinceManuel extends Command {
+  private Pince pince;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new PinceManuel. */
+  public PinceManuel(Pince pince, DoubleSupplier doubleSupplier) {
+    this.pince = pince;
+    this.doubleSupplier = doubleSupplier;
+    addRequirements(pince);
+    // 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() {}
+
+  // 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;
+  }
+}

From 0be9356fa910c3748f248f547bb33831e980ec4e Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 20 Feb 2025 20:25:59 -0500
Subject: [PATCH 34/43] code mieux

---
 src/main/java/frc/robot/RobotContainer.java       | 5 +++++
 src/main/java/frc/robot/commands/L2.java          | 2 +-
 src/main/java/frc/robot/commands/L3.java          | 2 +-
 src/main/java/frc/robot/commands/L4.java          | 2 +-
 src/main/java/frc/robot/commands/PinceManuel.java | 9 ++++++++-
 5 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 57b9cea..be01536 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,6 +20,7 @@ import frc.robot.commands.ElevateurManuel;
 import frc.robot.commands.L2;
 import frc.robot.commands.L3;
 import frc.robot.commands.L4;
+import frc.robot.commands.PinceManuel;
 import frc.robot.commands.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
@@ -32,11 +33,15 @@ public class RobotContainer {
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
+  PinceManuel pinceManuel = new PinceManuel(pince, manette2::getRightY);
   public RobotContainer() {
     configureBindings();
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
+    pince.setDefaultCommand(new RunCommand(()->{
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
+    }, pince));
      NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java
index ca5b8ec..8cca282 100644
--- a/src/main/java/frc/robot/commands/L2.java
+++ b/src/main/java/frc/robot/commands/L2.java
@@ -5,7 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
+
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java
index c933027..c92e442 100644
--- a/src/main/java/frc/robot/commands/L3.java
+++ b/src/main/java/frc/robot/commands/L3.java
@@ -5,7 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
+
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java
index 9cbcaf0..f32bf81 100644
--- a/src/main/java/frc/robot/commands/L4.java
+++ b/src/main/java/frc/robot/commands/L4.java
@@ -5,7 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
+
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
diff --git a/src/main/java/frc/robot/commands/PinceManuel.java b/src/main/java/frc/robot/commands/PinceManuel.java
index 526e743..b30eed5 100644
--- a/src/main/java/frc/robot/commands/PinceManuel.java
+++ b/src/main/java/frc/robot/commands/PinceManuel.java
@@ -27,7 +27,14 @@ public class PinceManuel extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(pince.position()){
+      pince.pivote(0);
+    }
+    else{
+      pince.pivote(doubleSupplier.getAsDouble());
+    }
+  }
 
   // Called once the command ends or is interrupted.
   @Override

From 69ef6b69824758cee5b3824d693c7060863d9535 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 09:55:55 -0500
Subject: [PATCH 35/43] pince mieux

---
 .SysId/sysid.json | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 .SysId/sysid.json

diff --git a/.SysId/sysid.json b/.SysId/sysid.json
new file mode 100644
index 0000000..0967ef4
--- /dev/null
+++ b/.SysId/sysid.json
@@ -0,0 +1 @@
+{}

From bb9d5a5550fe3d26faeedc991a0921cc28230ef3 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 10:30:20 -0500
Subject: [PATCH 36/43] touche

---
 src/main/java/frc/robot/RobotContainer.java   | 21 ++++----
 .../java/frc/robot/commands/CoralInspire.java | 49 -------------------
 .../java/frc/robot/commands/StationPince.java |  2 +
 3 files changed, 11 insertions(+), 61 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/CoralInspire.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index be01536..4bba20b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.AlgueExpire;
 import frc.robot.commands.CoralAlgueInspire;
 import frc.robot.commands.CoralExpire;
-import frc.robot.commands.CoralInspire;
 import frc.robot.commands.Depart;
 import frc.robot.commands.DepartPince;
 import frc.robot.commands.ElevateurManuel;
@@ -46,24 +45,22 @@ public class RobotContainer {
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
     NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
-    NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince,bougie));
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
 
   }
 
   private void configureBindings() {
     // manette1
-    manette1.a().whileTrue(new AlgueExpire(pince,bougie));
-    manette1.b().whileTrue(new CoralAlgueInspire(pince,bougie));
-    manette1.x().whileTrue(new CoralInspire(pince,bougie));
-    manette1.y().whileTrue(new CoralExpire(pince,bougie));
-    manette1.povUp().whileTrue(new L4(elevateur, pince));
-    manette1.povRight().whileTrue(new L2(elevateur, pince));
-    manette1.povLeft().whileTrue(new L3(elevateur, pince));
-    manette1.povDown().whileTrue(new Depart(elevateur, pince));
+    manette1.a().whileTrue(new Depart(elevateur, pince));
+    manette1.b().whileTrue(new L2(elevateur,pince));
+    manette1.x().whileTrue(new L3(elevateur, pince));
+    manette1.y().whileTrue(new L4(elevateur, pince));
+    manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
+    manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
+    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     //manette2
-    manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
-    manette2.a().whileTrue(new StationPince(pince,elevateur));
+    manette2.leftTrigger().toggleOnTrue(new AlgueExpire(pince, bougie));
+    
   }
   
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/CoralInspire.java b/src/main/java/frc/robot/commands/CoralInspire.java
deleted file mode 100644
index fc249ba..0000000
--- a/src/main/java/frc/robot/commands/CoralInspire.java
+++ /dev/null
@@ -1,49 +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;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
-import frc.robot.subsystems.Bougie;
-/* 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 CoralInspire extends Command {
-  private Pince pince;
-  Bougie bougie;
-  /** Creates a new CoralAlgue. */
-  public CoralInspire(Pince pince, Bougie bougie) {
-    this.pince = pince;
-    this.bougie = bougie;
-    addRequirements(pince,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(pince.emperagecoral()>8){
-    pince.aspirecoral(0);  
-    }
-    else{
-      pince.aspirecoral(.5);
-      bougie.Bleu();
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    pince.aspirecoral(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/StationPince.java b/src/main/java/frc/robot/commands/StationPince.java
index f0c3ccf..1bd807d 100644
--- a/src/main/java/frc/robot/commands/StationPince.java
+++ b/src/main/java/frc/robot/commands/StationPince.java
@@ -28,6 +28,7 @@ public class StationPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    pince.aspirecoral(0.5);
     if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
       pince.pivote(0);
     }
@@ -52,6 +53,7 @@ public class StationPince extends Command {
   @Override
   public void end(boolean interrupted) {
     pince.pivote(0);
+    pince.aspirecoral(0);
   }
 
   // Returns true when the command should end.

From 1f4111ef6dbb8495cee7d83339212a535b62778f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 11:41:37 -0500
Subject: [PATCH 37/43] id

---
 src/main/java/frc/robot/subsystems/Pince.java | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 50bcfe7..22b50ed 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -13,10 +13,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Pince extends SubsystemBase {
   /** Creates a new Pince. */
   public Pince() {}
-  final SparkMax coral = new SparkMax(1, MotorType.kBrushless);
-  final SparkMax pivoti = new SparkMax(2, MotorType.kBrushless);
-  final SparkMax algue1 = new SparkMax(4, MotorType.kBrushless);
-  final SparkMax algue2 = new SparkMax(5, MotorType.kBrushless);
+  final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
+  final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
+  final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
+  final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
   final DigitalInput limit6 = new DigitalInput(2);
   public void aspirecoral(double vitesse){
     coral.set(vitesse);

From 26d32e370713f7ed9e2773ee1c3c1a9db1e6046f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 12:48:56 -0500
Subject: [PATCH 38/43] amperage

---
 src/main/java/frc/robot/commands/AlgueExpire.java     |  4 ++--
 .../java/frc/robot/commands/CoralAlgueInspire.java    |  2 +-
 src/main/java/frc/robot/commands/CoralExpire.java     | 11 ++++++-----
 src/main/java/frc/robot/subsystems/Bougie.java        |  2 +-
 4 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc/robot/commands/AlgueExpire.java b/src/main/java/frc/robot/commands/AlgueExpire.java
index ab177d4..49606d7 100644
--- a/src/main/java/frc/robot/commands/AlgueExpire.java
+++ b/src/main/java/frc/robot/commands/AlgueExpire.java
@@ -27,8 +27,8 @@ public class AlgueExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagealgue()>8){
-      pince.aspirealgue(0);
+    if(pince.emperagealgue()>60){
+      pince.aspirealgue(-0.5);
     }
     else{
       pince.aspirealgue(-0.5);
diff --git a/src/main/java/frc/robot/commands/CoralAlgueInspire.java b/src/main/java/frc/robot/commands/CoralAlgueInspire.java
index 4697090..b64185b 100644
--- a/src/main/java/frc/robot/commands/CoralAlgueInspire.java
+++ b/src/main/java/frc/robot/commands/CoralAlgueInspire.java
@@ -28,7 +28,7 @@ public class CoralAlgueInspire extends Command {
   @Override
   public void execute() {
     pince.aspirecoral(-.5);
-    if(pince.emperagealgue()>8){
+    if(pince.emperagealgue()>60){
       pince.aspirealgue(0);
       bougie.Bleu();
      } 
diff --git a/src/main/java/frc/robot/commands/CoralExpire.java b/src/main/java/frc/robot/commands/CoralExpire.java
index 15ec3c8..0879f50 100644
--- a/src/main/java/frc/robot/commands/CoralExpire.java
+++ b/src/main/java/frc/robot/commands/CoralExpire.java
@@ -26,12 +26,13 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral() > 8){
-      pince.aspirecoral(0);
-   }
-   else{
+    //if(pince.emperagecoral() > 60){
+    //  pince.aspirecoral(0);
+   //}
+   //else{
     pince.aspirecoral(-.5);
-    bougie.Jaune();}
+    //bougie.Jaune();
+   // }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index 98bdf49..02cd2a8 100644
--- a/src/main/java/frc/robot/subsystems/Bougie.java
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -11,7 +11,7 @@ import com.ctre.phoenix.led.RainbowAnimation;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Bougie extends SubsystemBase {
-  CANdle candle = new CANdle(5);
+  CANdle candle = new CANdle(23);
   CANdleConfiguration config = new CANdleConfiguration();
   RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
   /** Creates a new Bougie. */

From 7be5f8c2fcb5954e9d0915c0f8482fb7611d4166 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 14:46:41 -0500
Subject: [PATCH 39/43] pince

---
 src/main/java/frc/robot/RobotContainer.java   | 11 +++--
 .../java/frc/robot/commands/DepartPince.java  |  2 +-
 src/main/java/frc/robot/commands/L2.java      |  4 +-
 src/main/java/frc/robot/commands/L3.java      |  4 +-
 src/main/java/frc/robot/commands/L4.java      |  4 +-
 .../java/frc/robot/commands/PinceManuel.java  |  8 ++--
 .../java/frc/robot/commands/PinceManuel2.java | 48 +++++++++++++++++++
 .../java/frc/robot/commands/StationPince.java |  4 +-
 .../java/frc/robot/subsystems/Elevateur.java  |  2 +-
 src/main/java/frc/robot/subsystems/Pince.java |  2 +-
 10 files changed, 71 insertions(+), 18 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/PinceManuel2.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4bba20b..5ec0c08 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,6 +20,7 @@ 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.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
@@ -32,14 +33,15 @@ public class RobotContainer {
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
-  PinceManuel pinceManuel = new PinceManuel(pince, manette2::getRightY);
+  PinceManuel pinceManuel = new PinceManuel(pince);
+  PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
   public RobotContainer() {
     configureBindings();
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
     pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
     }, pince));
      NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
@@ -59,8 +61,9 @@ public class RobotContainer {
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     //manette2
-    manette2.leftTrigger().toggleOnTrue(new AlgueExpire(pince, bougie));
-    
+    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+    manette2.povUp().whileTrue(new PinceManuel(pince));
+    manette2.povDown().whileTrue(new PinceManuel2(pince));
   }
   
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/DepartPince.java b/src/main/java/frc/robot/commands/DepartPince.java
index a8c621e..12a69dd 100644
--- a/src/main/java/frc/robot/commands/DepartPince.java
+++ b/src/main/java/frc/robot/commands/DepartPince.java
@@ -29,7 +29,7 @@ public class DepartPince extends Command {
       pince.reset();
     }
     else{
-      pince.pivote(.5);
+      pince.pivote(.2);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java
index 8cca282..abae929 100644
--- a/src/main/java/frc/robot/commands/L2.java
+++ b/src/main/java/frc/robot/commands/L2.java
@@ -42,10 +42,10 @@ public class L2 extends Command {
      
     }
     else if(pince.encodeurpivot()>=510){
-      pince.pivote(-0.3);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.3);
+      pince.pivote(0.2);
     }
 
   }
diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java
index c92e442..8786079 100644
--- a/src/main/java/frc/robot/commands/L3.java
+++ b/src/main/java/frc/robot/commands/L3.java
@@ -41,10 +41,10 @@ public class L3 extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=710){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java
index f32bf81..7794fc3 100644
--- a/src/main/java/frc/robot/commands/L4.java
+++ b/src/main/java/frc/robot/commands/L4.java
@@ -41,10 +41,10 @@ public class L4 extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=810){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/PinceManuel.java b/src/main/java/frc/robot/commands/PinceManuel.java
index b30eed5..164fd42 100644
--- a/src/main/java/frc/robot/commands/PinceManuel.java
+++ b/src/main/java/frc/robot/commands/PinceManuel.java
@@ -14,9 +14,11 @@ public class PinceManuel extends Command {
   private Pince pince;
   private DoubleSupplier doubleSupplier;
   /** Creates a new PinceManuel. */
-  public PinceManuel(Pince pince, DoubleSupplier doubleSupplier) {
+  public PinceManuel(Pince pince
+  //, DoubleSupplier doubleSupplier
+  ) {
     this.pince = pince;
-    this.doubleSupplier = doubleSupplier;
+    //this.doubleSupplier = doubleSupplier;
     addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -32,7 +34,7 @@ public class PinceManuel extends Command {
       pince.pivote(0);
     }
     else{
-      pince.pivote(doubleSupplier.getAsDouble());
+      pince.pivote(0.2);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/PinceManuel2.java b/src/main/java/frc/robot/commands/PinceManuel2.java
new file mode 100644
index 0000000..03edffa
--- /dev/null
+++ b/src/main/java/frc/robot/commands/PinceManuel2.java
@@ -0,0 +1,48 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 PinceManuel2 extends Command {
+  private Pince pince;
+  //private DoubleSupplier doubleSupplier;
+  /** Creates a new PinceManuel. */
+  public PinceManuel2(Pince pince
+   
+  //,DoubleSupplier doubleSupplier
+  ) {
+    this.pince = pince;
+   // this.doubleSupplier = doubleSupplier;
+    addRequirements(pince);
+    // 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() {
+
+      pince.pivote(-0.2);
+
+  }
+
+  // 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/commands/StationPince.java b/src/main/java/frc/robot/commands/StationPince.java
index 1bd807d..9e11f99 100644
--- a/src/main/java/frc/robot/commands/StationPince.java
+++ b/src/main/java/frc/robot/commands/StationPince.java
@@ -33,10 +33,10 @@ public class StationPince extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.5);
+      pince.pivote(-0.2);
     }
     else{
-      pince.pivote(0.5);
+      pince.pivote(0.2);
     }
     if(elevateur.position()>=400 && elevateur.position()<=410){
       elevateur.vitesse(0);
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index 8caad7a..2efe36e 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -11,7 +11,7 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 public class Elevateur extends SubsystemBase {
   /** Creates a new Elevateur. */
   public Elevateur() {}
-  final SparkMax  monte = new SparkMax(3, MotorType.kBrushless);
+  final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(1);
   public double position(){
     return monte.getEncoder().getPosition();
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 22b50ed..2428fbd 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -17,7 +17,7 @@ public class Pince extends SubsystemBase {
   final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
   final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
   final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
-  final DigitalInput limit6 = new DigitalInput(2);
+  final DigitalInput limit6 = new DigitalInput(0);
   public void aspirecoral(double vitesse){
     coral.set(vitesse);
   }

From 93e5bb0b467d9f4095f68161fab0fedf2dd04026 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 24 Feb 2025 18:15:32 -0500
Subject: [PATCH 40/43] pince mieux

---
 src/main/java/frc/robot/RobotContainer.java   | 12 +++++-
 .../java/frc/robot/commands/Algue1Test.java   | 41 ++++++++++++++++++
 .../java/frc/robot/commands/Algue2Test.java   | 41 ++++++++++++++++++
 .../java/frc/robot/commands/CorailAspir.java  | 42 +++++++++++++++++++
 .../java/frc/robot/commands/CorailTest.java   | 41 ++++++++++++++++++
 .../frc/robot/commands/ElevateurManuel.java   |  2 +-
 .../java/frc/robot/commands/PinceManuel.java  | 18 ++++----
 .../java/frc/robot/commands/PinceManuel2.java |  7 ++--
 .../java/frc/robot/commands/StationPince.java |  8 ++--
 src/main/java/frc/robot/subsystems/Pince.java |  6 +++
 10 files changed, 197 insertions(+), 21 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/Algue1Test.java
 create mode 100644 src/main/java/frc/robot/commands/Algue2Test.java
 create mode 100644 src/main/java/frc/robot/commands/CorailAspir.java
 create mode 100644 src/main/java/frc/robot/commands/CorailTest.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5ec0c08..923373b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -10,7 +10,11 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.commands.Algue1Test;
+import frc.robot.commands.Algue2Test;
 import frc.robot.commands.AlgueExpire;
+import frc.robot.commands.CorailAspir;
+import frc.robot.commands.CorailTest;
 import frc.robot.commands.CoralAlgueInspire;
 import frc.robot.commands.CoralExpire;
 import frc.robot.commands.Depart;
@@ -38,7 +42,7 @@ public class RobotContainer {
   public RobotContainer() {
     configureBindings();
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
+      elevateur.vitesse(MathUtil.applyDeadband(-manette2.getLeftY(), 0.2));
     }, elevateur));
     pince.setDefaultCommand(new RunCommand(()->{
       pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
@@ -57,13 +61,17 @@ public class RobotContainer {
     manette1.b().whileTrue(new L2(elevateur,pince));
     manette1.x().whileTrue(new L3(elevateur, pince));
     manette1.y().whileTrue(new L4(elevateur, pince));
-    manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     //manette2
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
     manette2.povUp().whileTrue(new PinceManuel(pince));
     manette2.povDown().whileTrue(new PinceManuel2(pince));
+    manette2.a().whileTrue(new CorailAspir(pince));
+    manette2.b().whileTrue(new CoralExpire(pince, bougie));
+    manette2.povLeft().whileTrue(new Algue1Test(pince));
+    manette2.povRight().whileTrue(new Algue2Test(pince));
+    manette2.x().whileTrue(new CorailTest(pince));
   }
   
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/Algue1Test.java b/src/main/java/frc/robot/commands/Algue1Test.java
new file mode 100644
index 0000000..f79faa6
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Algue1Test.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 Algue1Test extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public Algue1Test(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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() {
+    pince.algue1Test(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.algue1Test(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/Algue2Test.java b/src/main/java/frc/robot/commands/Algue2Test.java
new file mode 100644
index 0000000..5f0e758
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Algue2Test.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 Algue2Test extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public Algue2Test(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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() {
+    pince.algue2Test(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.algue2Test(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/CorailAspir.java b/src/main/java/frc/robot/commands/CorailAspir.java
new file mode 100644
index 0000000..8199c75
--- /dev/null
+++ b/src/main/java/frc/robot/commands/CorailAspir.java
@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 CorailAspir extends Command {
+  /** Creates a new CorailAspir. */
+  private Pince pince;
+  public CorailAspir(Pince pince) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.pince = pince;
+    addRequirements(pince);
+  }
+
+  // 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() {
+
+    pince.aspirecoral(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/CorailTest.java b/src/main/java/frc/robot/commands/CorailTest.java
new file mode 100644
index 0000000..5e947d2
--- /dev/null
+++ b/src/main/java/frc/robot/commands/CorailTest.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 CorailTest extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public CorailTest(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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() {
+    pince.aspirecoral(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/ElevateurManuel.java b/src/main/java/frc/robot/commands/ElevateurManuel.java
index 0a52684..ce00534 100644
--- a/src/main/java/frc/robot/commands/ElevateurManuel.java
+++ b/src/main/java/frc/robot/commands/ElevateurManuel.java
@@ -31,7 +31,7 @@ public class ElevateurManuel extends Command {
     if(elevateur.limit2()==true){
       elevateur.vitesse(0);
     }
-    elevateur.vitesse(doubleSupplier.getAsDouble());
+    elevateur.vitesse(doubleSupplier.getAsDouble()/5);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/PinceManuel.java b/src/main/java/frc/robot/commands/PinceManuel.java
index 164fd42..acb39a3 100644
--- a/src/main/java/frc/robot/commands/PinceManuel.java
+++ b/src/main/java/frc/robot/commands/PinceManuel.java
@@ -3,16 +3,12 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-
-import java.util.function.DoubleSupplier;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
 
 /* 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 PinceManuel extends Command {
   private Pince pince;
-  private DoubleSupplier doubleSupplier;
   /** Creates a new PinceManuel. */
   public PinceManuel(Pince pince
   //, DoubleSupplier doubleSupplier
@@ -30,17 +26,19 @@ public class PinceManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.position()){
-      pince.pivote(0);
-    }
-    else{
+    // if(pince.position()){
+    //   pince.pivote(0);
+    // }
+    // else{
       pince.pivote(0.2);
-    }
+    // }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/PinceManuel2.java b/src/main/java/frc/robot/commands/PinceManuel2.java
index 03edffa..bf8d1e4 100644
--- a/src/main/java/frc/robot/commands/PinceManuel2.java
+++ b/src/main/java/frc/robot/commands/PinceManuel2.java
@@ -3,9 +3,6 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-
-import java.util.function.DoubleSupplier;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;
 
@@ -38,7 +35,9 @@ public class PinceManuel2 extends Command {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/StationPince.java b/src/main/java/frc/robot/commands/StationPince.java
index 9e11f99..59527d5 100644
--- a/src/main/java/frc/robot/commands/StationPince.java
+++ b/src/main/java/frc/robot/commands/StationPince.java
@@ -33,19 +33,19 @@ public class StationPince extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.2);
+      pince.pivote(0.2);
     }
     else{
-      pince.pivote(0.2);
+      pince.pivote(-0.2);
     }
     if(elevateur.position()>=400 && elevateur.position()<=410){
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=410){
-      elevateur.vitesse(-0.3);
+      elevateur.vitesse(0.3);
     }
     else{
-      elevateur.vitesse(.3);
+      elevateur.vitesse(-.3);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 2428fbd..3e04f48 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -42,6 +42,12 @@ public double emperagecoral(){
 }
 public double emperagealgue(){
   return algue1.getOutputCurrent();
+}
+public void algue1Test(double vitesse){
+  algue1.set(vitesse);
+}
+public void algue2Test(double vitesse){
+  algue2.set(vitesse);
 }
   @Override
   public void periodic() {

From 87c3abcb65b42fd47c494fa0cc7e0cd19613ca65 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 24 Feb 2025 18:18:14 -0500
Subject: [PATCH 41/43] encodeurs

---
 src/main/java/frc/robot/subsystems/Elevateur.java | 5 +++++
 src/main/java/frc/robot/subsystems/Pince.java     | 5 +++++
 2 files changed, 10 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index 2efe36e..49928f3 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -4,7 +4,9 @@
 
 package frc.robot.subsystems;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
@@ -13,6 +15,9 @@ public class Elevateur extends SubsystemBase {
   public Elevateur() {}
   final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(1);
+  GenericEntry teb = Shuffleboard.getTab("teb")
+  .add("elevateur encodeur",position())
+  .getEntry();
   public double position(){
     return monte.getEncoder().getPosition();
   }
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 3e04f48..8cea49b 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -7,7 +7,9 @@ package frc.robot.subsystems;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Pince extends SubsystemBase {
@@ -18,6 +20,9 @@ public class Pince extends SubsystemBase {
   final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
   final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
   final DigitalInput limit6 = new DigitalInput(0);
+   GenericEntry teb = Shuffleboard.getTab("teb")
+  .add("pince encodeur",encodeurpivot())
+  .getEntry();
   public void aspirecoral(double vitesse){
     coral.set(vitesse);
   }

From 5d84d83f7dd47c4032143843de65ffcd0c13b0df Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 24 Feb 2025 19:13:12 -0500
Subject: [PATCH 42/43] k

---
 src/main/java/frc/robot/RobotContainer.java  |  4 +-
 src/main/java/frc/robot/commands/Depart.java | 12 +-----
 src/main/java/frc/robot/commands/L2.java     |  6 +--
 src/main/java/frc/robot/commands/L3.java     |  8 ++--
 src/main/java/frc/robot/commands/L4.java     |  6 +--
 src/main/java/frc/robot/commands/reset.java  | 41 ++++++++++++++++++++
 6 files changed, 56 insertions(+), 21 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/reset.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 923373b..9893719 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -26,6 +26,7 @@ import frc.robot.commands.L4;
 import frc.robot.commands.PinceManuel;
 import frc.robot.commands.PinceManuel2;
 import frc.robot.commands.StationPince;
+import frc.robot.commands.reset;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 import frc.robot.subsystems.Bougie;
@@ -42,7 +43,7 @@ public class RobotContainer {
   public RobotContainer() {
     configureBindings();
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(-manette2.getLeftY(), 0.2));
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
     pince.setDefaultCommand(new RunCommand(()->{
       pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
@@ -72,6 +73,7 @@ public class RobotContainer {
     manette2.povLeft().whileTrue(new Algue1Test(pince));
     manette2.povRight().whileTrue(new Algue2Test(pince));
     manette2.x().whileTrue(new CorailTest(pince));
+    manette2.start().whileTrue(new reset(elevateur));
   }
   
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/Depart.java b/src/main/java/frc/robot/commands/Depart.java
index 4d53236..f5322dd 100644
--- a/src/main/java/frc/robot/commands/Depart.java
+++ b/src/main/java/frc/robot/commands/Depart.java
@@ -32,17 +32,9 @@ public class Depart extends Command {
       elevateur.reset();
     }
     else{
-      elevateur.vitesse(-.5);
-    }
-    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=910){
-      pince.pivote(-0.5);
-    }
-    else{
-      pince.pivote(0.5);
+      elevateur.vitesse(.5);
     }
+    
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java
index abae929..0cc7048 100644
--- a/src/main/java/frc/robot/commands/L2.java
+++ b/src/main/java/frc/robot/commands/L2.java
@@ -32,7 +32,7 @@ public class L2 extends Command {
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=510){
-      elevateur.vitesse(-0.3);
+      elevateur.vitesse(0.3);
     }
     else{
       elevateur.vitesse(.3);
@@ -42,10 +42,10 @@ public class L2 extends Command {
      
     }
     else if(pince.encodeurpivot()>=510){
-      pince.pivote(-0.2);
+      pince.pivote(0.2);
     }
     else{
-      pince.pivote(0.2);
+      pince.pivote(-0.2);
     }
 
   }
diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java
index 8786079..a0fc189 100644
--- a/src/main/java/frc/robot/commands/L3.java
+++ b/src/main/java/frc/robot/commands/L3.java
@@ -32,19 +32,19 @@ public class L3 extends Command {
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=510){
-      elevateur.vitesse(-0.5);
+      elevateur.vitesse(0.5);
     }
     else{
-      elevateur.vitesse(.5);
+      elevateur.vitesse(-.5);
     }
     if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=710){
-      pince.pivote(-0.2);
+      pince.pivote(0.2);
     }
     else{
-      pince.pivote(0.2);
+      pince.pivote(-0.2);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java
index 7794fc3..5bec009 100644
--- a/src/main/java/frc/robot/commands/L4.java
+++ b/src/main/java/frc/robot/commands/L4.java
@@ -32,7 +32,7 @@ public class L4 extends Command {
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=810){
-      elevateur.vitesse(-0.5);
+      elevateur.vitesse(0.5);
     }
     else{
       elevateur.vitesse(.5);
@@ -41,10 +41,10 @@ public class L4 extends Command {
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=810){
-      pince.pivote(-0.2);
+      pince.pivote(0.2);
     }
     else{
-      pince.pivote(0.2);
+      pince.pivote(-0.2);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/reset.java b/src/main/java/frc/robot/commands/reset.java
new file mode 100644
index 0000000..f49fe97
--- /dev/null
+++ b/src/main/java/frc/robot/commands/reset.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class reset extends Command {
+  /** Creates a new reset. */
+  private Elevateur elevateur;
+  public reset(Elevateur elevateur) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    elevateur.reset();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 9f83b61c466ded0633b93842a5b399242b084cdb Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 24 Feb 2025 19:52:02 -0500
Subject: [PATCH 43/43] manuel

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

diff --git a/src/main/java/frc/robot/commands/ElevateurManuel.java b/src/main/java/frc/robot/commands/ElevateurManuel.java
index ce00534..2eb17ab 100644
--- a/src/main/java/frc/robot/commands/ElevateurManuel.java
+++ b/src/main/java/frc/robot/commands/ElevateurManuel.java
@@ -31,7 +31,7 @@ public class ElevateurManuel extends Command {
     if(elevateur.limit2()==true){
       elevateur.vitesse(0);
     }
-    elevateur.vitesse(doubleSupplier.getAsDouble()/5);
+    elevateur.vitesse(doubleSupplier.getAsDouble()/7);
   }
 
   // Called once the command ends or is interrupted.