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

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

@@ -24,30 +24,27 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
-import frc.robot.commands.Algue1Test;
-import frc.robot.commands.Algue2Test;
-import frc.robot.commands.AlgueExpire;
-import frc.robot.commands.Algue_inspire;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
-import frc.robot.commands.CorailAspir;
-import frc.robot.commands.CorailTest;
-import frc.robot.commands.CoralAlgueInspire;
-import frc.robot.commands.CoralExpire;
-import frc.robot.commands.Depart;
-import frc.robot.commands.ElevateurManuel;
 import frc.robot.commands.Forme3;
-import frc.robot.commands.L2;
-import frc.robot.commands.L3;
-import frc.robot.commands.L4;
-import frc.robot.commands.PinceManuel;
-import frc.robot.commands.PinceManuel2;
 import frc.robot.commands.RainBow;
 import frc.robot.commands.StationPince;
 import frc.robot.commands.reset;
+import frc.robot.commands.Elevateur.Depart;
+import frc.robot.commands.Elevateur.ElevateurManuel;
+import frc.robot.commands.Elevateur.L2;
+import frc.robot.commands.Elevateur.L3;
+import frc.robot.commands.Elevateur.L4;
+import frc.robot.commands.Pince.AlgueExpire;
+import frc.robot.commands.Pince.Algue_inspire;
+import frc.robot.commands.Pince.CorailAspir;
+import frc.robot.commands.Pince.CoralAlgueInspire;
+import frc.robot.commands.Pince.CoralExpire;
+import frc.robot.commands.Pince.PinceManuel;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Limelight3;
 import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
@@ -76,14 +73,12 @@ public class RobotContainer {
   Pince pince = new Pince();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
   PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
-  PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
   Bougie bougie = new Bougie();
   Limelight3G limelight3g = new Limelight3G();
   Limelight3 limelight3 = new Limelight3();
   Pose2d pose = new Pose2d();
+  Grimpeur Grimpeur = new Grimpeur();
   
-
-
   public RobotContainer() {
     autoChooser = AutoBuilder.buildAutoChooser("New Auto");
     SmartDashboard.putData("Auto Mode", autoChooser);
@@ -118,31 +113,35 @@ public class RobotContainer {
      
     
     // manette1
-    // reset the field-centric heading on left bumper press
+
+    // reset the field-centric heading on start press
     manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+
+    //elevateur
     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));
+
+    //pince
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
+
     //manette2
-    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+
+    //pince
     manette2.a().whileTrue(new CorailAspir(pince));
     manette2.start().whileTrue(new reset(elevateur,pince));
     manette2.b().whileTrue(new Algue_inspire(pince));
+    manette2.start().whileTrue(new reset(elevateur,pince));
+    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+
+    //limelight
     manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
   }
   
-
-
-
-      // Note that X is defined as forward according to WPILib convention,
-      // and Y is defined as to the left according to WPILib convention.
-  
-    
     // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
     
     public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/Elevateur/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.commands;
+package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
@@ -11,12 +11,10 @@ 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, Pince pince) {
-    this.pince = pince;
     this.elevateur = elevateur;
-    addRequirements(elevateur,pince);
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -41,12 +39,11 @@ public class Depart extends Command {
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
-    pince.pivote(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.limit2()==true;
+    return elevateur.limit2() == true;
   }
 }

src/main/java/frc/robot/commands/Elevateur/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.commands;
+package frc.robot.commands.Elevateur;
 
 import java.util.function.DoubleSupplier;
 
@@ -28,9 +28,7 @@ public class ElevateurManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.limit2()==true){
-      elevateur.vitesse(0);
-    }
+    if (elevateur.limit2())
     elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
   }
 

src/main/java/frc/robot/commands/Elevateur/L2.java

@@ -2,8 +2,10 @@
 // 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;
-
+package frc.robot.commands.Elevateur;
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystems.Elevateur;
@@ -13,6 +15,13 @@ import frc.robot.subsystems.Pince;
 public class L2 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurelevateurbasL2").subscribe(-1);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurelevateurhautL2").subscribe(-0.9);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL2").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpinceautL2").subscribe(-0.9);
   /** Creates a new L2. */
   public L2(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -28,10 +37,14 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=-1 && elevateur.position()>=-0.9){
+    double encodeurbase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
+    if(elevateur.position()<=encodeurbase && elevateur.position()>=-encodeurhaute){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=-1){
+    else if(elevateur.position()>=encodeurbase){
       elevateur.vitesse(-0.2);
     }
     else{

src/main/java/frc/robot/commands/Elevateur/L3.java

@@ -2,8 +2,11 @@
 // 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;
+package frc.robot.commands.Elevateur;
 
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystems.Elevateur;
@@ -13,6 +16,12 @@ import frc.robot.subsystems.Pince;
 public class L3 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+    NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurhautL3").subscribe(-2.9);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurbasL3").subscribe(-3);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL3").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL3").subscribe(-0.9);
   /** Creates a new L2. */
   public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -28,10 +37,14 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=-2.9 && elevateur.position()>=-3){
+    double encodeurHaute = encodeur1.get();
+    double encodeurBase = encodeur2.get();
+    double encodeurbase = encodeur3.get();
+    double encodeurhaute = encodeur4.get();
+    if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=-2.9){
+    else if(elevateur.position()>=-encodeurHaute){
       elevateur.vitesse(-0.2);
     }
     else{

src/main/java/frc/robot/commands/Elevateur/L4.java

@@ -2,8 +2,12 @@
 // 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;
+package frc.robot.commands.Elevateur;
 
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.DoubleTopic;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystems.Elevateur;
@@ -13,10 +17,18 @@ import frc.robot.subsystems.Pince;
 public class L4 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleTopic encodeur1topic = tabelevateur.getDoubleTopic("encodeurbasL4");
+  DoubleSubscriber encodeur1 = encodeur1topic.subscribe(-6.4);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9);
   /** Creates a new L2. */
   public L4(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
     this.pince = pince;
+    encodeur1topic.setPersistent(true);
     addRequirements(elevateur,pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -28,10 +40,14 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=-6.5 && elevateur.position()>=-6.4){
+    double encodeurBase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
+    if(elevateur.position()<=encodeurhaute && elevateur.position()>=encodeurBase){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=-6.5){
+    else if(elevateur.position()>=encodeurhaute){
       elevateur.vitesse(-0.2);
     }
     else{

src/main/java/frc/robot/commands/Pince/Algue1Test.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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/Algue2Test.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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;

src/main/java/frc/robot/commands/Pince/Algue_inspire.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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/CorailAspir.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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/CorailTest.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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;

src/main/java/frc/robot/commands/Pince/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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/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.commands;
+package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pince;

src/main/java/frc/robot/commands/Pince/PinceManuel.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.commands;
+package frc.robot.commands.Pince;
 import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.wpilibj2.command.Command;

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

@@ -9,8 +9,8 @@ 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 RainBow extends Command {
-  Bougie bougie;
   /** Creates a new RainBow. */
+  private Bougie bougie;
   public RainBow(Bougie bougie) {
     this.bougie = bougie;
     addRequirements(bougie);

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

@@ -4,6 +4,9 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
@@ -13,6 +16,12 @@ public class StationPince extends Command {
   
   private Pince pince;
   private Elevateur elevateur;
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas Station").subscribe(-0.5);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut Station").subscribe(-0.4);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas Station").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut Station").subscribe(-0.9);
   /** Creates a new L2Pince. */
   public StationPince(Pince pince,Elevateur elevateur) {
     this.elevateur = elevateur;
@@ -28,11 +37,15 @@ public class StationPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    double encodeurBase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
     pince.aspirecoral(0.5);
-    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
+    if(pince.encodeurpivot()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
       pince.pivote(0);
     }
-    else if(pince.encodeurpivot()>=910){
+    else if(pince.encodeurpivot()>=encodeurBase){
       pince.pivote(0.2);
     }
     else{

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

@@ -0,0 +1,56 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.grimpeur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimperHaut extends Command {
+  private Grimpeur grimpeur;
+  private Bougie bougie;
+  /** Creates a new Grimper. */
+  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
+    this.grimpeur = grimpeur;
+    this.bougie = bougie;
+    addRequirements(grimpeur,bougie);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.stop()==true){
+      grimpeur.grimpe(0);
+      grimpeur.reset();
+      bougie.RainBow();
+    }
+    else{
+      grimpeur.grimpe(0.5);
+      bougie.RainBowStop();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+   if(grimpeur.stop()){
+    bougie.RainBow();
+   }
+
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return grimpeur.stop()==true;
+  }
+}

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

@@ -0,0 +1,57 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.grimpeur;
+
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+   NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurgrimpeurbas").subscribe(-39.19);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurgrimpeurhaut ").subscribe(-38.5);
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double encodeurbas = encodeur1.get();
+    double encodeurhaut = encodeur2.get();
+    if(grimpeur.encodeur()>=encodeurhaut && grimpeur.encodeur()<=encodeurbas){
+      grimpeur.grimpe(0);
+    }
+    else if(grimpeur.encodeur()>=encodeurhaut){
+      grimpeur.grimpe(-0.5);
+    }
+   else{grimpeur.grimpe(0.5);
+  } 
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.grimpeur;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimpeurManuel extends Command {
+  private Grimpeur grimpeur;
+  private DoubleSupplier x;
+  /** Creates a new GrimpeurManuel. */
+  public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
+    this.grimpeur = grimpeur;
+    this.x = x;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.stop()){
+      grimpeur.grimpe(0);
+    }
+    else{
+    grimpeur.grimpe(x.getAsDouble());  
+    }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.grimpeur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ResetGrimpeur extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new ResetGrimpeur. */
+  public ResetGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    grimpeur.reset();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,63 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* 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 BalayeuseAlgue extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseAlgue(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie =bougie;
+    addRequirements(requin,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(requin.encodeur()>=500 &&  requin.encodeur()<=510)
+     {
+       requin.rotationer(0);
+       if(requin.amp()> 60){
+       requin.balaye(0);
+       bougie.Vert();
+     }
+      else
+      {
+           requin.balaye(0.5);
+      }
+     }
+     else if(requin.encodeur()>=510){
+     requin.rotationer(0.5);
+     }
+     else{
+      requin.rotationer(-0.5);
+     }
+    
+   }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,40 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 BalayeuseBas extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseBas(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // 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() {
+  requin.rotationer(-0.5);
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,67 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* 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 BalayeuseCoral extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseCoral(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,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(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+       requin.rotationer(0);
+      if(requin.amp()>60){
+      requin.balaye(0);
+       bougie.Vert();
+       if(requin.enHaut()){
+        requin.rotationer(0);
+       }
+        else{
+          requin.rotationer(0.5);
+        }
+    }
+     else{
+       requin.balaye(0.5);
+     }
+     }
+     else if(requin.encodeur()>=110){
+     requin.rotationer(0.5);
+     }
+     else{
+       requin.rotationer(-0.5);
+     }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -2,22 +2,18 @@
 // 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;
+package frc.robot.commands.requin;
+
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 /* 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);
+public class BalayeuseHaut extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseHaut(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -28,15 +24,19 @@ public class PinceManuel2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-
-      pince.pivote(-0.2);
-
+    if(requin.enHaut()==true){
+      requin.rotationer(0);
+      requin.reset();
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    requin.rotationer(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/requin/ExpireAlgue.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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 ExpireAlgue extends Command {
+  private Requin requin;
+  /** Creates a new ExpireAlgue. */
+  public ExpireAlgue(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // 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() {
+    requin.balaye(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,65 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* 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 L1Requin extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public L1Requin(Requin requin,Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,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(requin.encodeur()>=800 &&  requin.encodeur()<=810){
+      requin.rotationer(0);
+      if(requin.amp()>8){
+      requin.balaye(-0.5);
+    }
+        else{
+          requin.balaye(0); 
+          bougie.Rouge();
+      }
+    }
+    else if(requin.encodeur()>=810){
+    requin.rotationer(0.5);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    
+    
+      
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/requin/aspire.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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 aspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public aspire(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // 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() {
+    requin.balaye(0.3);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/requin/exspire.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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 exspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public exspire(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // 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() {
+    requin.balaye(-0.3);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/requin/requin_manuel.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.commands.requin;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* 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 requin_manuel extends Command {
+  /** Creates a new requin_manuel. */
+  private Requin requin;
+  private DoubleSupplier x;
+  public requin_manuel(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // 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(requin.enHaut()){
+    requin.rotationer(0);  
+    }
+    else{
+      requin.rotationer(x.getAsDouble());
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -43,8 +43,12 @@ public class Bougie extends SubsystemBase {
    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);}
+  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

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

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Grimpeur extends SubsystemBase {
+  /** Creates a new Grimpeur. */
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  public Grimpeur() {
+    teb.addBoolean("limit grimpeur", this::stop);
+    teb.addDouble("encodeur grimpeur", this::encodeur);
+  }
+  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
+  final DigitalInput limit1 = new DigitalInput(2);
+  public void grimpe(double vitesse){
+    grimpeur.set(vitesse);
+  }
+  public boolean stop(){
+   return limit1.get();
+  }
+  public double encodeur(){
+  return grimpeur.getEncoder().getPosition();
+  }
+  public void reset(){
+     grimpeur.getEncoder().setPosition(0);
+    }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc/robot/subsystems/Requin.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.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Requin extends SubsystemBase {
+  /** Creates a new Requin. */
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  public Requin() {
+    teb.addBoolean("limit requin", this::enHaut);
+  }
+   
+  final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
+  final DigitalInput limit3 = new DigitalInput(1);
+    
+  public void balaye(double vitesse){
+    balaye.set(vitesse);
+  }
+  public void rotationer(double vitesse){
+  rotatione.set(vitesse);
+  }
+  public boolean enHaut(){
+  return limit3.get();
+  } 
+  public double encodeur(){
+  return rotatione.getEncoder().getPosition();
+  }
+  public void reset(){
+    rotatione.getEncoder().setPosition(0);
+  }
+  public double amp(){
+    return balaye.getOutputCurrent();
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}