From fd8ab8663bd04e869d05cce1e9bce9476aa50f13 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 27 Jan 2025 20:14:20 -0500
Subject: [PATCH 01/37] baleeuse

---
 .../java/frc/robot/command/BalayeuseHaut.java | 46 +++++++++++++++++++
 .../java/frc/robot/subsystems/Requin.java     | 41 +++++++++++++++++
 2 files changed, 87 insertions(+)
 create mode 100644 src/main/java/frc/robot/command/BalayeuseHaut.java
 create mode 100644 src/main/java/frc/robot/subsystems/Requin.java

diff --git a/src/main/java/frc/robot/command/BalayeuseHaut.java b/src/main/java/frc/robot/command/BalayeuseHaut.java
new file mode 100644
index 0000000..4dc75c8
--- /dev/null
+++ b/src/main/java/frc/robot/command/BalayeuseHaut.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.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 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.
+  }
+
+  // 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()==true){
+      requin.rotationer(0);
+    }
+    else{
+      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;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
new file mode 100644
index 0000000..f200054
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Requin.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.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.wpilibj2.command.SubsystemBase;
+
+public class Requin extends SubsystemBase {
+  /** Creates a new Requin. */
+  public Requin() {}
+  final SparkFlex balaye = new SparkFlex(0, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless);
+  final DigitalInput limit3 = new DigitalInput(0);
+  final DigitalInput limit4 = new DigitalInput(0);
+  final DigitalInput limit5 = new DigitalInput(0);
+  public void balaye(double vitesse){
+    balaye.set(vitesse);
+  }
+  public void rotationer(double vitesse){
+    rotatione.set(vitesse);
+  }
+  public boolean enHaut(){
+    return limit3.get();
+  }
+  public boolean enBas(){
+  return limit4.get();
+  }
+  public boolean stop(){
+  return  limit5.get();
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From 72da7b7d74a22f942be57d29668c3e580e17cfdc Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 17:56:40 -0500
Subject: [PATCH 02/37] requin rotatione

---
 .../java/frc/robot/command/BalayeuseBas.java  | 46 +++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 src/main/java/frc/robot/command/BalayeuseBas.java

diff --git a/src/main/java/frc/robot/command/BalayeuseBas.java b/src/main/java/frc/robot/command/BalayeuseBas.java
new file mode 100644
index 0000000..110dd8c
--- /dev/null
+++ b/src/main/java/frc/robot/command/BalayeuseBas.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.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() {
+    if(requin.enBas()==true){
+      requin.rotationer(0);
+    }
+    else{
+      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;
+  }
+}

From e4c7a1260673ed5ca774e4218f0d84aa5ef49404 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 18:02:53 -0500
Subject: [PATCH 03/37] balaye

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

diff --git a/src/main/java/frc/robot/command/BalayeuseBas.java b/src/main/java/frc/robot/command/BalayeuseBas.java
index 110dd8c..b4016a6 100644
--- a/src/main/java/frc/robot/command/BalayeuseBas.java
+++ b/src/main/java/frc/robot/command/BalayeuseBas.java
@@ -30,12 +30,19 @@ public class BalayeuseBas extends Command {
     else{
       requin.rotationer(-0.5);
     }
+    if(requin.stop()){
+      requin.balaye(0);
+    }
+    else{
+      requin.balaye(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.

From 15be1d67ea1b9fa06099c0f0ec881050cec936e8 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 18:05:47 -0500
Subject: [PATCH 04/37] L1

---
 src/main/java/frc/robot/command/L1.java | 41 +++++++++++++++++++++++++
 1 file changed, 41 insertions(+)
 create mode 100644 src/main/java/frc/robot/command/L1.java

diff --git a/src/main/java/frc/robot/command/L1.java b/src/main/java/frc/robot/command/L1.java
new file mode 100644
index 0000000..35e8707
--- /dev/null
+++ b/src/main/java/frc/robot/command/L1.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.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 L1 extends Command {
+  private Requin requin;
+  /** Creates a new L1. */
+  public L1(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;
+  }
+}

From eec4eee2ff0563f29ee020a50e7e94ad404dfb3e Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 28 Jan 2025 19:34:18 -0500
Subject: [PATCH 05/37] baleeuse

---
 .../frc/robot/command/BalayeuseAlgue.java     | 56 +++++++++++++++++++
 .../frc/robot/command/BalayeuseCoral.java     | 56 +++++++++++++++++++
 .../java/frc/robot/command/BalayeuseHaut.java |  1 +
 .../{BalayeuseBas.java => L1Requin.java}      |  9 ++-
 .../java/frc/robot/subsystems/Requin.java     | 14 +++--
 5 files changed, 127 insertions(+), 9 deletions(-)
 create mode 100644 src/main/java/frc/robot/command/BalayeuseAlgue.java
 create mode 100644 src/main/java/frc/robot/command/BalayeuseCoral.java
 rename src/main/java/frc/robot/command/{BalayeuseBas.java => L1Requin.java} (86%)

diff --git a/src/main/java/frc/robot/command/BalayeuseAlgue.java b/src/main/java/frc/robot/command/BalayeuseAlgue.java
new file mode 100644
index 0000000..04e02fa
--- /dev/null
+++ b/src/main/java/frc/robot/command/BalayeuseAlgue.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.command;
+
+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 BalayeuseAlgue extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseAlgue(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() {
+    if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+      requin.rotationer(0);
+    }
+    else if(requin.encodeur()>=510){
+    requin.rotationer(0.5);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    if(requin.stop()){
+      requin.balaye(0);
+    }
+    else{
+      requin.balaye(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;
+  }
+}
diff --git a/src/main/java/frc/robot/command/BalayeuseCoral.java b/src/main/java/frc/robot/command/BalayeuseCoral.java
new file mode 100644
index 0000000..6075a71
--- /dev/null
+++ b/src/main/java/frc/robot/command/BalayeuseCoral.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.command;
+
+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 BalayeuseCoral extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseCoral(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() {
+    if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+      requin.rotationer(0);
+    }
+    else if(requin.encodeur()>=110){
+    requin.rotationer(0.5);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    if(requin.stop()){
+      requin.balaye(0);
+    }
+    else{
+      requin.balaye(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;
+  }
+}
diff --git a/src/main/java/frc/robot/command/BalayeuseHaut.java b/src/main/java/frc/robot/command/BalayeuseHaut.java
index 4dc75c8..647c592 100644
--- a/src/main/java/frc/robot/command/BalayeuseHaut.java
+++ b/src/main/java/frc/robot/command/BalayeuseHaut.java
@@ -26,6 +26,7 @@ public class BalayeuseHaut extends Command {
   public void execute() {
     if(requin.enHaut()==true){
       requin.rotationer(0);
+      requin.reset();
     }
     else{
       requin.rotationer(0.5);
diff --git a/src/main/java/frc/robot/command/BalayeuseBas.java b/src/main/java/frc/robot/command/L1Requin.java
similarity index 86%
rename from src/main/java/frc/robot/command/BalayeuseBas.java
rename to src/main/java/frc/robot/command/L1Requin.java
index b4016a6..0dc75c5 100644
--- a/src/main/java/frc/robot/command/BalayeuseBas.java
+++ b/src/main/java/frc/robot/command/L1Requin.java
@@ -8,10 +8,10 @@ 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 {
+public class L1Requin extends Command {
   private Requin requin;
   /** Creates a new Balayeuse. */
-  public BalayeuseBas(Requin requin) {
+  public L1Requin(Requin requin) {
     this.requin = requin;
     addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -24,9 +24,12 @@ public class BalayeuseBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.enBas()==true){
+    if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
     }
+    else if(requin.encodeur()>=810){
+    requin.rotationer(0.5);
+    }
     else{
       requin.rotationer(-0.5);
     }
diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index f200054..5ebd547 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -17,23 +17,25 @@ public class Requin extends SubsystemBase {
   final SparkFlex balaye = new SparkFlex(0, MotorType.kBrushless);
   final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(0);
-  final DigitalInput limit4 = new DigitalInput(0);
   final DigitalInput limit5 = new DigitalInput(0);
   public void balaye(double vitesse){
     balaye.set(vitesse);
   }
   public void rotationer(double vitesse){
-    rotatione.set(vitesse);
+  rotatione.set(vitesse);
   }
   public boolean enHaut(){
-    return limit3.get();
-  }
-  public boolean enBas(){
-  return limit4.get();
+  return limit3.get();
   }
   public boolean stop(){
   return  limit5.get();
   }
+  public double encodeur(){
+  return rotatione.getEncoder().getPosition();
+  }
+  public void reset(){
+    rotatione.getEncoder().setPosition(0);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From afe25cf046669e1045db9ea80ea6e95876eaf614 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 19:41:28 -0500
Subject: [PATCH 06/37] pu L1

---
 src/main/java/frc/robot/RobotContainer.java |  7 +++-
 src/main/java/frc/robot/command/L1.java     | 41 ---------------------
 2 files changed, 6 insertions(+), 42 deletions(-)
 delete mode 100644 src/main/java/frc/robot/command/L1.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..61d2ac0 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,13 +6,18 @@ 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;
 
 public class RobotContainer {
+  CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(0);
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
diff --git a/src/main/java/frc/robot/command/L1.java b/src/main/java/frc/robot/command/L1.java
deleted file mode 100644
index 35e8707..0000000
--- a/src/main/java/frc/robot/command/L1.java
+++ /dev/null
@@ -1,41 +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.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 L1 extends Command {
-  private Requin requin;
-  /** Creates a new L1. */
-  public L1(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;
-  }
-}

From 4c49ad4e513986822a6f67562d07c1864e77c5af Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Jan 2025 19:45:46 -0500
Subject: [PATCH 07/37] touche requin

---
 src/main/java/frc/robot/RobotContainer.java | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 61d2ac0..56f9063 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,16 +7,25 @@ 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.BalayeuseAlgue;
+import frc.robot.command.BalayeuseCoral;
+import frc.robot.command.BalayeuseHaut;
+import frc.robot.command.L1Requin;
+import frc.robot.subsystems.Requin;
 
 public class RobotContainer {
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(0);
+  Requin requin = new Requin();
   public RobotContainer() {
     configureBindings();
   }
 
   private void configureBindings() {
-    
+    manette2.b().whileTrue(new BalayeuseAlgue(requin));
+    manette2.x().whileTrue(new BalayeuseCoral(requin));
+    manette2.y().whileTrue(new L1Requin(requin));
+    manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
 
   public Command getAutonomousCommand() {

From 56704c3e6891cb4dcdb3136567e5f8000a262a7a Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Feb 2025 18:53:33 -0500
Subject: [PATCH 08/37] id

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

diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index 5ebd547..ac317dc 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -14,10 +14,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Requin extends SubsystemBase {
   /** Creates a new Requin. */
   public Requin() {}
-  final SparkFlex balaye = new SparkFlex(0, MotorType.kBrushless);
-  final SparkMax rotatione = new SparkMax(0, MotorType.kBrushless);
-  final DigitalInput limit3 = new DigitalInput(0);
-  final DigitalInput limit5 = new DigitalInput(0);
+  final SparkFlex balaye = new SparkFlex(9, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(10, MotorType.kBrushless);
+  final DigitalInput limit3 = new DigitalInput(4);
+  final DigitalInput limit5 = new DigitalInput(5);
   public void balaye(double vitesse){
     balaye.set(vitesse);
   }

From 2ac9cfe8ffa201cc64356f565c394b70b2877e93 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Feb 2025 18:59:31 -0500
Subject: [PATCH 09/37] simulation

---
 simgui-ds.json                              | 109 ++++++++++++++++++++
 src/main/java/frc/robot/RobotContainer.java |   2 +-
 2 files changed, 110 insertions(+), 1 deletion(-)
 create mode 100644 simgui-ds.json

diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 0000000..dd439bd
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,109 @@
+{
+  "FMS": {
+    "window": {
+      "visible": false
+    }
+  },
+  "Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
+  "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
+    }
+  ],
+  "robotJoysticks": [
+    {},
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
+  ]
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 56f9063..d4c9d78 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,7 +15,7 @@ import frc.robot.subsystems.Requin;
 
 public class RobotContainer {
   CommandXboxController manette1 = new CommandXboxController(0);
-  CommandXboxController manette2 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(1);
   Requin requin = new Requin();
   public RobotContainer() {
     configureBindings();

From 6683613c7ff7bdc4d2b6a044304770909ac265fe Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 6 Feb 2025 17:48:27 -0500
Subject: [PATCH 10/37] command -> commands

---
 src/main/java/frc/robot/RobotContainer.java               | 8 ++++----
 .../frc/robot/{command => commands}/BalayeuseAlgue.java   | 2 +-
 .../frc/robot/{command => commands}/BalayeuseCoral.java   | 2 +-
 .../frc/robot/{command => commands}/BalayeuseHaut.java    | 2 +-
 .../java/frc/robot/{command => commands}/L1Requin.java    | 2 +-
 5 files changed, 8 insertions(+), 8 deletions(-)
 rename src/main/java/frc/robot/{command => commands}/BalayeuseAlgue.java (98%)
 rename src/main/java/frc/robot/{command => commands}/BalayeuseCoral.java (98%)
 rename src/main/java/frc/robot/{command => commands}/BalayeuseHaut.java (97%)
 rename src/main/java/frc/robot/{command => commands}/L1Requin.java (98%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d4c9d78..a8affa1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,10 +7,10 @@ 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.BalayeuseAlgue;
-import frc.robot.command.BalayeuseCoral;
-import frc.robot.command.BalayeuseHaut;
-import frc.robot.command.L1Requin;
+import frc.robot.commands.BalayeuseAlgue;
+import frc.robot.commands.BalayeuseCoral;
+import frc.robot.commands.BalayeuseHaut;
+import frc.robot.commands.L1Requin;
 import frc.robot.subsystems.Requin;
 
 public class RobotContainer {
diff --git a/src/main/java/frc/robot/command/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
similarity index 98%
rename from src/main/java/frc/robot/command/BalayeuseAlgue.java
rename to src/main/java/frc/robot/commands/BalayeuseAlgue.java
index 04e02fa..38b6a09 100644
--- a/src/main/java/frc/robot/command/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.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.Requin;
diff --git a/src/main/java/frc/robot/command/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java
similarity index 98%
rename from src/main/java/frc/robot/command/BalayeuseCoral.java
rename to src/main/java/frc/robot/commands/BalayeuseCoral.java
index 6075a71..879eee3 100644
--- a/src/main/java/frc/robot/command/BalayeuseCoral.java
+++ b/src/main/java/frc/robot/commands/BalayeuseCoral.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.Requin;
diff --git a/src/main/java/frc/robot/command/BalayeuseHaut.java b/src/main/java/frc/robot/commands/BalayeuseHaut.java
similarity index 97%
rename from src/main/java/frc/robot/command/BalayeuseHaut.java
rename to src/main/java/frc/robot/commands/BalayeuseHaut.java
index 647c592..ee25627 100644
--- a/src/main/java/frc/robot/command/BalayeuseHaut.java
+++ b/src/main/java/frc/robot/commands/BalayeuseHaut.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.Requin;
diff --git a/src/main/java/frc/robot/command/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java
similarity index 98%
rename from src/main/java/frc/robot/command/L1Requin.java
rename to src/main/java/frc/robot/commands/L1Requin.java
index 0dc75c5..6f23948 100644
--- a/src/main/java/frc/robot/command/L1Requin.java
+++ b/src/main/java/frc/robot/commands/L1Requin.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.Requin;

From 3458203225f58a8ee08380bdf326299fedfa6297 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 11 Feb 2025 19:51:37 -0500
Subject: [PATCH 11/37] leds baleeuse et saaaaaaaaaaam

---
 src/main/java/frc/robot/RobotContainer.java   |  9 ++--
 .../frc/robot/commands/BalayeuseAlgue.java    | 21 +++++---
 .../frc/robot/commands/BalayeuseCoral.java    | 21 +++++---
 .../java/frc/robot/commands/L1Requin.java     | 24 ++++++---
 .../java/frc/robot/subsystems/Bougie.java     | 52 +++++++++++++++++++
 5 files changed, 99 insertions(+), 28 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 a8affa1..71fb150 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -12,19 +12,20 @@ import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
 import frc.robot.subsystems.Requin;
-
+import frc.robot.subsystems.Bougie;
 public class RobotContainer {
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(1);
   Requin requin = new Requin();
+  Bougie bougie = new Bougie();
   public RobotContainer() {
     configureBindings();
   }
 
   private void configureBindings() {
-    manette2.b().whileTrue(new BalayeuseAlgue(requin));
-    manette2.x().whileTrue(new BalayeuseCoral(requin));
-    manette2.y().whileTrue(new L1Requin(requin));
+    manette2.b().whileTrue(new BalayeuseAlgue(requin,bougie));
+    manette2.x().whileTrue(new BalayeuseCoral(requin,bougie));
+    manette2.y().whileTrue(new L1Requin(requin,bougie));
     manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
 
diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
index 38b6a09..03dc31d 100644
--- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.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.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) {
+  public BalayeuseAlgue(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie =bougie;
+    addRequirements(requin, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class BalayeuseAlgue extends Command {
   public void execute() {
     if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
       requin.rotationer(0);
+      if(requin.stop()){
+      requin.balaye(0);
+      bougie.Vert();
+    }
+    else{
+      requin.balaye(0.5);
+    }
     }
     else if(requin.encodeur()>=510){
     requin.rotationer(0.5);
@@ -33,12 +43,7 @@ public class BalayeuseAlgue extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
-      requin.balaye(0);
-    }
-    else{
-      requin.balaye(0.5);
-    }
+    
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java
index 879eee3..35aa9d8 100644
--- a/src/main/java/frc/robot/commands/BalayeuseCoral.java
+++ b/src/main/java/frc/robot/commands/BalayeuseCoral.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.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) {
+  public BalayeuseCoral(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class BalayeuseCoral extends Command {
   public void execute() {
     if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
       requin.rotationer(0);
+      if(requin.stop()){
+      requin.balaye(0);
+      bougie.Vert();
+    }
+    else{
+      requin.balaye(0.5);
+    }
     }
     else if(requin.encodeur()>=110){
     requin.rotationer(0.5);
@@ -33,12 +43,7 @@ public class BalayeuseCoral extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
-      requin.balaye(0);
-    }
-    else{
-      requin.balaye(0.5);
-    }
+    
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java
index 6f23948..230f6f5 100644
--- a/src/main/java/frc/robot/commands/L1Requin.java
+++ b/src/main/java/frc/robot/commands/L1Requin.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.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) {
+  public L1Requin(Requin requin,Bougie bougie) {
     this.requin = requin;
-    addRequirements(requin);
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,6 +29,13 @@ public class L1Requin extends Command {
   public void execute() {
     if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
+      if(requin.stop()){
+      requin.balaye(-0.5);
+    }
+    else{
+      requin.balaye(-0.5); 
+      bougie.Rouge();
+    }
     }
     else if(requin.encodeur()>=810){
     requin.rotationer(0.5);
@@ -33,12 +43,10 @@ public class L1Requin extends Command {
     else{
       requin.rotationer(-0.5);
     }
-    if(requin.stop()){
-      requin.balaye(0);
-    }
-    else{
-      requin.balaye(0.5);
-    }
+    
+    
+      
+    
   }
 
   // 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
new file mode 100644
index 0000000..98bdf49
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -0,0 +1,52 @@
+// 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, 0,0,8,8);
+   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, 0,0,8,8);
+   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, 255,0,16,8);
+    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
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From eaa14fb1b17400ff1eff8523974b9a37860c1f64 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 12 Feb 2025 16:52:10 -0500
Subject: [PATCH 12/37] mieu ecrit

---
 src/main/java/frc/robot/commands/BalayeuseAlgue.java | 4 ++--
 src/main/java/frc/robot/commands/L1Requin.java       | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
index 03dc31d..ebab2e7 100644
--- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
@@ -33,8 +33,8 @@ public class BalayeuseAlgue extends Command {
       requin.balaye(0);
       bougie.Vert();
     }
-    else{
-      requin.balaye(0.5);
+        else{
+          requin.balaye(0.5);
     }
     }
     else if(requin.encodeur()>=510){
diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java
index 230f6f5..e20b921 100644
--- a/src/main/java/frc/robot/commands/L1Requin.java
+++ b/src/main/java/frc/robot/commands/L1Requin.java
@@ -32,10 +32,10 @@ public class L1Requin extends Command {
       if(requin.stop()){
       requin.balaye(-0.5);
     }
-    else{
-      requin.balaye(-0.5); 
-      bougie.Rouge();
-    }
+        else{
+          requin.balaye(-0.5); 
+          bougie.Rouge();
+      }
     }
     else if(requin.encodeur()>=810){
     requin.rotationer(0.5);

From dc36eea3202e40fb002d6efdcd0a60d49ff1f90a Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 19 Feb 2025 17:21:37 -0500
Subject: [PATCH 13/37] requin

---
 src/main/java/frc/robot/RobotContainer.java   |  4 +-
 .../frc/robot/commands/BalayeuseAlgue.java    | 39 ++++++++++---------
 .../frc/robot/commands/BalayeuseCoral.java    | 34 ++++++++--------
 .../java/frc/robot/subsystems/Bougie.java     |  2 +-
 .../java/frc/robot/subsystems/Grimpeur.java   |  2 +-
 .../java/frc/robot/subsystems/Requin.java     |  6 +--
 6 files changed, 44 insertions(+), 43 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 71fb150..4949401 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -23,8 +23,8 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
-    manette2.b().whileTrue(new BalayeuseAlgue(requin,bougie));
-    manette2.x().whileTrue(new BalayeuseCoral(requin,bougie));
+    manette2.b().whileTrue(new BalayeuseAlgue(requin));
+    manette2.x().whileTrue(new BalayeuseCoral(requin));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
     manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
index ebab2e7..86bfdb3 100644
--- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
@@ -13,10 +13,10 @@ public class BalayeuseAlgue extends Command {
   private Requin requin;
   private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseAlgue(Requin requin,Bougie bougie) {
+  public BalayeuseAlgue(Requin requin) {
     this.requin = requin;
     this.bougie =bougie;
-    addRequirements(requin, bougie);
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,24 +27,25 @@ public class BalayeuseAlgue extends Command {
   // 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.stop()){
-      requin.balaye(0);
-      bougie.Vert();
-    }
-        else{
-          requin.balaye(0.5);
-    }
-    }
-    else if(requin.encodeur()>=510){
-    requin.rotationer(0.5);
-    }
-    else{
-      requin.rotationer(-0.5);
-    }
+  //   if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+  //     requin.rotationer(0);
+  //     if(requin.stop()){
+  //     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
diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java
index 35aa9d8..2215b85 100644
--- a/src/main/java/frc/robot/commands/BalayeuseCoral.java
+++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java
@@ -13,10 +13,10 @@ public class BalayeuseCoral extends Command {
   private Requin requin;
   private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseCoral(Requin requin,Bougie bougie) {
+  public BalayeuseCoral(Requin requin) {
     this.requin = requin;
     this.bougie = bougie;
-    addRequirements(requin,bougie);
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,24 +27,24 @@ public class BalayeuseCoral extends Command {
   // 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.stop()){
-      requin.balaye(0);
-      bougie.Vert();
-    }
-    else{
+    // if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+    //   requin.rotationer(0);
+    //   if(requin.stop()){
       requin.balaye(0.5);
+      // bougie.Vert();
     }
-    }
-    else if(requin.encodeur()>=110){
-    requin.rotationer(0.5);
-    }
-    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
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index 98bdf49..92d25da 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(50);
   CANdleConfiguration config = new CANdleConfiguration();
   RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
   /** Creates a new Bougie. */
diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
index 7e55e0b..09f6528 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(0);
+  final Spark grimpeur = new Spark(16);
   final DigitalInput limit1 = new DigitalInput(0);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);
diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index ac317dc..418554e 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Requin extends SubsystemBase {
   /** Creates a new Requin. */
   public Requin() {}
-  final SparkFlex balaye = new SparkFlex(9, MotorType.kBrushless);
-  final SparkMax rotatione = new SparkMax(10, MotorType.kBrushless);
+  final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(14, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(4);
   final DigitalInput limit5 = new DigitalInput(5);
   public void balaye(double vitesse){
@@ -26,7 +26,7 @@ public class Requin extends SubsystemBase {
   }
   public boolean enHaut(){
   return limit3.get();
-  }
+  } 
   public boolean stop(){
   return  limit5.get();
   }

From 29227dd2f6d6a772d536e8e9cc008d26dba8bd3c Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 20 Feb 2025 20:10:58 -0500
Subject: [PATCH 14/37] code mieux

---
 .../frc/robot/commands/BalayeuseAlgue.java    | 30 +++++++-------
 .../frc/robot/commands/BalayeuseCoral.java    | 38 ++++++++++--------
 .../java/frc/robot/commands/ExpireAlgue.java  | 40 +++++++++++++++++++
 .../java/frc/robot/commands/L1Requin.java     |  5 ++-
 .../java/frc/robot/subsystems/Requin.java     |  5 ++-
 5 files changed, 84 insertions(+), 34 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/ExpireAlgue.java

diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
index 86bfdb3..b13cb8a 100644
--- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
@@ -27,23 +27,23 @@ public class BalayeuseAlgue extends Command {
   // 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.stop()){
-  //     requin.balaye(0);
-  //     bougie.Vert();
-  //   }
-  //       else{
+     if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+       requin.rotationer(0);
+       if(requin.stop()){
+       requin.balaye(0);
+       bougie.Vert();
+     }
+         else{
           
            requin.balaye(0.5);
-  //   }
-  //   }
-  //   else if(requin.encodeur()>=510){
-  //   requin.rotationer(0.5);
-  //   }
-  //   else{
-  //     requin.rotationer(-0.5);
-  //   }
+     }
+     }
+     else if(requin.encodeur()>=510){
+     requin.rotationer(0.5);
+     }
+     else{
+      requin.rotationer(-0.5);
+     }
     
    }
 
diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java
index 2215b85..34624e2 100644
--- a/src/main/java/frc/robot/commands/BalayeuseCoral.java
+++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java
@@ -27,24 +27,30 @@ public class BalayeuseCoral extends Command {
   // 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.stop()){
-      requin.balaye(0.5);
-      // bougie.Vert();
+     if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+       requin.rotationer(0);
+      if(requin.amp()>8){
+      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);
-    // }
+     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
diff --git a/src/main/java/frc/robot/commands/ExpireAlgue.java b/src/main/java/frc/robot/commands/ExpireAlgue.java
new file mode 100644
index 0000000..3eae23a
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ExpireAlgue.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;
+
+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;
+    // 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;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java
index e20b921..3b871ce 100644
--- a/src/main/java/frc/robot/commands/L1Requin.java
+++ b/src/main/java/frc/robot/commands/L1Requin.java
@@ -27,13 +27,14 @@ public class L1Requin extends Command {
   // 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.stop()){
+      if(requin.amp()>8){
       requin.balaye(-0.5);
     }
         else{
-          requin.balaye(-0.5); 
+          requin.balaye(0); 
           bougie.Rouge();
       }
     }
diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index 418554e..c428f18 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -15,7 +15,7 @@ public class Requin extends SubsystemBase {
   /** Creates a new Requin. */
   public Requin() {}
   final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
-  final SparkMax rotatione = new SparkMax(14, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(4);
   final DigitalInput limit5 = new DigitalInput(5);
   public void balaye(double vitesse){
@@ -36,6 +36,9 @@ public class Requin extends SubsystemBase {
   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

From 7fd7c666f151c6242ef4282538015cbd66170ba3 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 20 Feb 2025 20:17:45 -0500
Subject: [PATCH 15/37] code mieux

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

diff --git a/src/main/java/frc/robot/commands/ExpireAlgue.java b/src/main/java/frc/robot/commands/ExpireAlgue.java
index 3eae23a..fea308e 100644
--- a/src/main/java/frc/robot/commands/ExpireAlgue.java
+++ b/src/main/java/frc/robot/commands/ExpireAlgue.java
@@ -13,6 +13,7 @@ public class ExpireAlgue extends Command {
   /** Creates a new ExpireAlgue. */
   public ExpireAlgue(Requin requin) {
     this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

From a09fbcefceab143dd1891e09bb217fde128e40de Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 20 Feb 2025 20:17:56 -0500
Subject: [PATCH 16/37] code mieux

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

diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
index b13cb8a..73af5d1 100644
--- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
@@ -16,7 +16,7 @@ public class BalayeuseAlgue extends Command {
   public BalayeuseAlgue(Requin requin) {
     this.requin = requin;
     this.bougie =bougie;
-    addRequirements(requin);
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java
index 34624e2..428c895 100644
--- a/src/main/java/frc/robot/commands/BalayeuseCoral.java
+++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java
@@ -16,7 +16,7 @@ public class BalayeuseCoral extends Command {
   public BalayeuseCoral(Requin requin) {
     this.requin = requin;
     this.bougie = bougie;
-    addRequirements(requin);
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

From 0524ec6355fd96ea868629dec3015444ad3281b4 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 10:22:13 -0500
Subject: [PATCH 17/37] oli code mal

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

diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index 92d25da..b4ac253 100644
--- a/src/main/java/frc/robot/subsystems/Bougie.java
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -43,7 +43,8 @@ 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 RainBow(){
+    candle.animate(rainbowAnim);}
   public void RainBowStop(){candle.animate(null);}
   @Override
   public void periodic() {

From f9d09106a470720747550f3064589db8a1ca47fc Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 15:21:04 -0500
Subject: [PATCH 18/37] dashboard

---
 src/main/java/frc/robot/RobotContainer.java   |  4 +--
 .../frc/robot/commands/BalayeuseAlgue.java    | 13 +++++-----
 .../frc/robot/commands/BalayeuseCoral.java    |  4 +--
 .../java/frc/robot/subsystems/Bougie.java     |  2 +-
 .../java/frc/robot/subsystems/Grimpeur.java   | 26 -------------------
 .../java/frc/robot/subsystems/Requin.java     | 13 +++++++---
 6 files changed, 21 insertions(+), 41 deletions(-)
 delete mode 100644 src/main/java/frc/robot/subsystems/Grimpeur.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4949401..3b0141c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -23,8 +23,8 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
-    manette2.b().whileTrue(new BalayeuseAlgue(requin));
-    manette2.x().whileTrue(new BalayeuseCoral(requin));
+    manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
+    manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
     manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
index 73af5d1..e97fec5 100644
--- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
@@ -13,7 +13,7 @@ public class BalayeuseAlgue extends Command {
   private Requin requin;
   private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseAlgue(Requin requin) {
+  public BalayeuseAlgue(Requin requin, Bougie bougie) {
     this.requin = requin;
     this.bougie =bougie;
     addRequirements(requin,bougie);
@@ -27,16 +27,17 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(requin.encodeur()>=500 &&  requin.encodeur()<=510){
+     if(requin.encodeur()>=500 &&  requin.encodeur()<=510)
+     {
        requin.rotationer(0);
-       if(requin.stop()){
+       if(requin.amp()> 60){
        requin.balaye(0);
        bougie.Vert();
      }
-         else{
-          
+      else
+      {
            requin.balaye(0.5);
-     }
+      }
      }
      else if(requin.encodeur()>=510){
      requin.rotationer(0.5);
diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java
index 428c895..2f53b19 100644
--- a/src/main/java/frc/robot/commands/BalayeuseCoral.java
+++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java
@@ -13,7 +13,7 @@ public class BalayeuseCoral extends Command {
   private Requin requin;
   private Bougie bougie;
   /** Creates a new Balayeuse. */
-  public BalayeuseCoral(Requin requin) {
+  public BalayeuseCoral(Requin requin, Bougie bougie) {
     this.requin = requin;
     this.bougie = bougie;
     addRequirements(requin,bougie);
@@ -29,7 +29,7 @@ public class BalayeuseCoral extends Command {
   public void execute() {
      if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
        requin.rotationer(0);
-      if(requin.amp()>8){
+      if(requin.amp()>60){
       requin.balaye(0);
        bougie.Vert();
        if(requin.enHaut()){
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index b4ac253..53aaa5e 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(50);
+  CANdle candle = new CANdle(23);
   CANdleConfiguration config = new CANdleConfiguration();
   RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
   /** Creates a new Bougie. */
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 09f6528..0000000
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ /dev/null
@@ -1,26 +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 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(16);
-  final DigitalInput limit1 = new DigitalInput(0);
-  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
-  }
-}
diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index c428f18..27337a4 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -8,7 +8,11 @@ import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardComponent;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Requin extends SubsystemBase {
@@ -17,7 +21,11 @@ public class Requin extends SubsystemBase {
   final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
   final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(4);
-  final DigitalInput limit5 = new DigitalInput(5);
+
+  GenericEntry teb = Shuffleboard.getTab("teb")
+  .add("amp",encodeur())
+  .getEntry();
+    
   public void balaye(double vitesse){
     balaye.set(vitesse);
   }
@@ -27,9 +35,6 @@ public class Requin extends SubsystemBase {
   public boolean enHaut(){
   return limit3.get();
   } 
-  public boolean stop(){
-  return  limit5.get();
-  }
   public double encodeur(){
   return rotatione.getEncoder().getPosition();
   }

From b6d2ffd931e8835027e94e5dd17662538abbc8f6 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Sat, 22 Feb 2025 15:28:59 -0500
Subject: [PATCH 19/37] bas

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +
 .../java/frc/robot/commands/BalayeuseBas.java | 40 +++++++++++++++++++
 2 files changed, 42 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/BalayeuseBas.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3b0141c..36e2ee1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,7 @@ 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.commands.BalayeuseAlgue;
+import frc.robot.commands.BalayeuseBas;
 import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
@@ -26,6 +27,7 @@ public class RobotContainer {
     manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
     manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
+    manette2.a().whileTrue(new BalayeuseBas(requin));
     manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
 
diff --git a/src/main/java/frc/robot/commands/BalayeuseBas.java b/src/main/java/frc/robot/commands/BalayeuseBas.java
new file mode 100644
index 0000000..6aefaeb
--- /dev/null
+++ b/src/main/java/frc/robot/commands/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;
+
+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;
+  }
+}

From d538b368a74eee4dfeae95e9d0163fec55c0ebba Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 24 Feb 2025 18:19:06 -0500
Subject: [PATCH 20/37] encodeur baleeuse

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

diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index 27337a4..1afcd6f 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -23,7 +23,7 @@ public class Requin extends SubsystemBase {
   final DigitalInput limit3 = new DigitalInput(4);
 
   GenericEntry teb = Shuffleboard.getTab("teb")
-  .add("amp",encodeur())
+  .add("encodeurrequationne",encodeur())
   .getEntry();
     
   public void balaye(double vitesse){

From 88aa6db0757c84261a4491f71142333bf79b6345 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 17:57:57 -0500
Subject: [PATCH 21/37] limit id

---
 src/main/java/frc/robot/subsystems/Requin.java | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index 1afcd6f..ffe5a38 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -12,15 +12,18 @@ import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardComponent;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class Requin extends SubsystemBase {
+public class Requin extends SubsystemBase {  };
   /** Creates a new Requin. */
-  public Requin() {}
+  public Requin() {
+
+  }
   final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
   final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
-  final DigitalInput limit3 = new DigitalInput(4);
+  final DigitalInput limit3 = new DigitalInput(1);
 
   GenericEntry teb = Shuffleboard.getTab("teb")
   .add("encodeurrequationne",encodeur())

From 17f3f697b95ed9ba6ed2a8cc894efc56b4b61c5d Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 18:03:04 -0500
Subject: [PATCH 22/37] dashboard requin

---
 src/main/java/frc/robot/subsystems/Requin.java | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index ffe5a38..0f343f2 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -16,18 +16,17 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class Requin extends SubsystemBase {  };
+public class Requin extends SubsystemBase {
   /** Creates a new Requin. */
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   public Requin() {
-
+   // teb.addBoolean("limit requin", limit3);
   }
   final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
   final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
   final DigitalInput limit3 = new DigitalInput(1);
 
-  GenericEntry teb = Shuffleboard.getTab("teb")
-  .add("encodeurrequationne",encodeur())
-  .getEntry();
+
     
   public void balaye(double vitesse){
     balaye.set(vitesse);

From 1157bdf76a80ed2477a4e956815977129e0e93ba Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 18:05:00 -0500
Subject: [PATCH 23/37] limit requin

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

diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index 0f343f2..4252146 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -20,7 +20,7 @@ public class Requin extends SubsystemBase {
   /** Creates a new Requin. */
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   public Requin() {
-   // teb.addBoolean("limit requin", limit3);
+    teb.addBoolean("limit requin", this::enHaut);
   }
   final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
   final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);

From cdd304f9e9a381b0c6f66b352cd5117147da046f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 18:08:14 -0500
Subject: [PATCH 24/37] dashboard requin + nettoyage code

---
 src/main/java/frc/robot/RobotContainer.java    | 11 ++++++-----
 src/main/java/frc/robot/subsystems/Requin.java |  7 +------
 2 files changed, 7 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 36e2ee1..02b4ec4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,19 +15,20 @@ import frc.robot.commands.L1Requin;
 import frc.robot.subsystems.Requin;
 import frc.robot.subsystems.Bougie;
 public class RobotContainer {
-  CommandXboxController manette1 = new CommandXboxController(0);
-  CommandXboxController manette2 = new CommandXboxController(1);
-  Requin requin = new Requin();
-  Bougie bougie = new Bougie();
+CommandXboxController manette1 = new CommandXboxController(0);
+CommandXboxController manette2 = new CommandXboxController(1);
+Requin requin = new Requin();
+Bougie bougie = new Bougie();
+
   public RobotContainer() {
     configureBindings();
   }
 
   private void configureBindings() {
+    manette2.a().whileTrue(new BalayeuseBas(requin));
     manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
     manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
-    manette2.a().whileTrue(new BalayeuseBas(requin));
     manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
 
diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
index 4252146..db0e3c4 100644
--- a/src/main/java/frc/robot/subsystems/Requin.java
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -7,13 +7,9 @@ package frc.robot.subsystems;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
-
-import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardComponent;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Requin extends SubsystemBase {
@@ -22,11 +18,10 @@ public class Requin extends SubsystemBase {
   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);

From 36c9f0048b9f6302003aca96aaccc9b77814d639 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 20:13:26 -0500
Subject: [PATCH 25/37] manuel

---
 src/main/java/frc/robot/RobotContainer.java   |  1 +
 .../frc/robot/commands/requin_manuel.java     | 44 +++++++++++++++++++
 2 files changed, 45 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/requin_manuel.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 02b4ec4..bab63e9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,6 +22,7 @@ Bougie bougie = new Bougie();
 
   public RobotContainer() {
     configureBindings();
+    requin.
   }
 
   private void configureBindings() {
diff --git a/src/main/java/frc/robot/commands/requin_manuel.java b/src/main/java/frc/robot/commands/requin_manuel.java
new file mode 100644
index 0000000..7f51847
--- /dev/null
+++ b/src/main/java/frc/robot/commands/requin_manuel.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.commands;
+
+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() {
+    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;
+  }
+}

From 3b372104e4bf7f8ada0a9b8fead4c0b66a9ca14f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 25 Feb 2025 20:26:23 -0500
Subject: [PATCH 26/37] requin manuel + aspire

---
 src/main/java/frc/robot/RobotContainer.java  | 14 +++++--
 src/main/java/frc/robot/commands/aspire.java | 41 ++++++++++++++++++++
 2 files changed, 52 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/aspire.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bab63e9..4ecaa11 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,29 +4,37 @@
 
 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.commands.BalayeuseAlgue;
 import frc.robot.commands.BalayeuseBas;
 import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
+import frc.robot.commands.aspire;
+import frc.robot.commands.requin_manuel;
 import frc.robot.subsystems.Requin;
 import frc.robot.subsystems.Bougie;
+import frc.robot.commands.aspire;
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 Requin requin = new Requin();
 Bougie bougie = new Bougie();
-
+aspire aspire = new aspire(requin);
+requin_manuel requin_manuel = new requin_manuel(requin);
   public RobotContainer() {
     configureBindings();
-    requin.
+   requin.setDefaultCommand(new RunCommand(()->{
+      requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
+    }, requin));
   }
 
   private void configureBindings() {
-    manette2.a().whileTrue(new BalayeuseBas(requin));
+    manette2.a().whileTrue(new aspire(requin));
     manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
     manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/aspire.java
new file mode 100644
index 0000000..c7f7a42
--- /dev/null
+++ b/src/main/java/frc/robot/commands/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;
+
+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(0.5);
+  }
+
+  // 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;
+  }
+}

From df31291697cb646d9e4177010e2006fa96d2b362 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 26 Feb 2025 17:05:46 -0500
Subject: [PATCH 27/37] limit avec requin manuel

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

diff --git a/src/main/java/frc/robot/commands/requin_manuel.java b/src/main/java/frc/robot/commands/requin_manuel.java
index 7f51847..30d8d7b 100644
--- a/src/main/java/frc/robot/commands/requin_manuel.java
+++ b/src/main/java/frc/robot/commands/requin_manuel.java
@@ -27,7 +27,12 @@ public class requin_manuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.rotationer(x.getAsDouble());
+    if(requin.enHaut()){
+    requin.rotationer(0);  
+    }
+    else{
+      requin.rotationer(x.getAsDouble());
+    }
   }
 
   // Called once the command ends or is interrupted.

From abb6d113d08120bee5a5c6b4ba23c0ff1c6c6a70 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 26 Feb 2025 18:39:59 -0500
Subject: [PATCH 28/37] ajout exspire

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +
 .../frc/robot/commands/BalayeuseHaut.java     |  2 +-
 src/main/java/frc/robot/commands/aspire.java  |  2 +-
 src/main/java/frc/robot/commands/exspire.java | 41 +++++++++++++++++++
 4 files changed, 45 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/exspire.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4ecaa11..62a8a21 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,6 +15,7 @@ import frc.robot.commands.BalayeuseCoral;
 import frc.robot.commands.BalayeuseHaut;
 import frc.robot.commands.L1Requin;
 import frc.robot.commands.aspire;
+import frc.robot.commands.exspire;
 import frc.robot.commands.requin_manuel;
 import frc.robot.subsystems.Requin;
 import frc.robot.subsystems.Bougie;
@@ -35,6 +36,7 @@ requin_manuel requin_manuel = new requin_manuel(requin);
 
   private void configureBindings() {
     manette2.a().whileTrue(new aspire(requin));
+    manette2.rightTrigger().whileTrue(new exspire(requin));
     manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
     manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
     manette2.y().whileTrue(new L1Requin(requin,bougie));
diff --git a/src/main/java/frc/robot/commands/BalayeuseHaut.java b/src/main/java/frc/robot/commands/BalayeuseHaut.java
index ee25627..5bf884f 100644
--- a/src/main/java/frc/robot/commands/BalayeuseHaut.java
+++ b/src/main/java/frc/robot/commands/BalayeuseHaut.java
@@ -29,7 +29,7 @@ public class BalayeuseHaut extends Command {
       requin.reset();
     }
     else{
-      requin.rotationer(0.5);
+      requin.rotationer(-0.5);
     }
   }
 
diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/aspire.java
index c7f7a42..96ce671 100644
--- a/src/main/java/frc/robot/commands/aspire.java
+++ b/src/main/java/frc/robot/commands/aspire.java
@@ -24,7 +24,7 @@ public class aspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.5);
+    requin.balaye(0.3);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/exspire.java b/src/main/java/frc/robot/commands/exspire.java
new file mode 100644
index 0000000..5229cc9
--- /dev/null
+++ b/src/main/java/frc/robot/commands/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;
+
+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;
+  }
+}

From b7eecbaea95e26aaca16c340d9622ff0a1407dae Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 27 Feb 2025 18:33:08 -0500
Subject: [PATCH 29/37] Menage pour mieu se trouver

---
 src/main/java/frc/robot/RobotContainer.java   | 12 ++---
 src/main/java/frc/robot/commands/Depart.java  |  2 +-
 .../{ => Elevateur}/ElevateurManuel.java      |  2 +-
 .../robot/commands/{ => Elevateur}/L2.java    |  5 +-
 .../robot/commands/{ => Elevateur}/L3.java    |  2 +-
 .../robot/commands/{ => Elevateur}/L4.java    |  2 +-
 .../commands/{ => Pince}/DepartPince.java     |  2 +-
 .../commands/{ => Pince}/PinceManuel.java     |  2 +-
 .../java/frc/robot/commands/PinceManuel2.java | 47 -------------------
 .../commands/{ => grimpeur}/GrimperHaut.java  |  2 +-
 .../commands/{ => grimpeur}/GrimpeurBas.java  |  2 +-
 .../{ => grimpeur}/GrimpeurManuel.java        |  2 +-
 .../{ => grimpeur}/ResetGrimpeur.java         |  2 +-
 13 files changed, 16 insertions(+), 68 deletions(-)
 rename src/main/java/frc/robot/commands/{ => Elevateur}/ElevateurManuel.java (97%)
 rename src/main/java/frc/robot/commands/{ => Elevateur}/L2.java (97%)
 rename src/main/java/frc/robot/commands/{ => Elevateur}/L3.java (98%)
 rename src/main/java/frc/robot/commands/{ => Elevateur}/L4.java (98%)
 rename src/main/java/frc/robot/commands/{ => Pince}/DepartPince.java (97%)
 rename src/main/java/frc/robot/commands/{ => Pince}/PinceManuel.java (97%)
 delete mode 100644 src/main/java/frc/robot/commands/PinceManuel2.java
 rename src/main/java/frc/robot/commands/{ => grimpeur}/GrimperHaut.java (97%)
 rename src/main/java/frc/robot/commands/{ => grimpeur}/GrimpeurBas.java (98%)
 rename src/main/java/frc/robot/commands/{ => grimpeur}/GrimpeurManuel.java (97%)
 rename src/main/java/frc/robot/commands/{ => grimpeur}/ResetGrimpeur.java (97%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index abee378..69953ad 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -27,21 +27,20 @@ import frc.robot.TunerConstants.TunerConstants;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
 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.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;
@@ -74,7 +73,6 @@ 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();
diff --git a/src/main/java/frc/robot/commands/Depart.java b/src/main/java/frc/robot/commands/Depart.java
index f5322dd..f624039 100644
--- a/src/main/java/frc/robot/commands/Depart.java
+++ b/src/main/java/frc/robot/commands/Depart.java
@@ -47,6 +47,6 @@ public class Depart extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.limit2()==true;
+    return elevateur.limit2() == true;
   }
 }
diff --git a/src/main/java/frc/robot/commands/ElevateurManuel.java b/src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java
similarity index 97%
rename from src/main/java/frc/robot/commands/ElevateurManuel.java
rename to src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java
index f86268a..682fdc6 100644
--- a/src/main/java/frc/robot/commands/ElevateurManuel.java
+++ b/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;
 
diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/Elevateur/L2.java
similarity index 97%
rename from src/main/java/frc/robot/commands/L2.java
rename to src/main/java/frc/robot/commands/Elevateur/L2.java
index fb6286f..936771c 100644
--- a/src/main/java/frc/robot/commands/L2.java
+++ b/src/main/java/frc/robot/commands/Elevateur/L2.java
@@ -2,10 +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;
-
-import java.util.function.DoubleSupplier;
-
+package frc.robot.commands.Elevateur;
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/Elevateur/L3.java
similarity index 98%
rename from src/main/java/frc/robot/commands/L3.java
rename to src/main/java/frc/robot/commands/Elevateur/L3.java
index 43635ac..b653c77 100644
--- a/src/main/java/frc/robot/commands/L3.java
+++ b/src/main/java/frc/robot/commands/Elevateur/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.commands;
+package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/Elevateur/L4.java
similarity index 98%
rename from src/main/java/frc/robot/commands/L4.java
rename to src/main/java/frc/robot/commands/Elevateur/L4.java
index a2a46d0..58697c5 100644
--- a/src/main/java/frc/robot/commands/L4.java
+++ b/src/main/java/frc/robot/commands/Elevateur/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.commands;
+package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
diff --git a/src/main/java/frc/robot/commands/DepartPince.java b/src/main/java/frc/robot/commands/Pince/DepartPince.java
similarity index 97%
rename from src/main/java/frc/robot/commands/DepartPince.java
rename to src/main/java/frc/robot/commands/Pince/DepartPince.java
index 12a69dd..bdfc343 100644
--- a/src/main/java/frc/robot/commands/DepartPince.java
+++ b/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;
diff --git a/src/main/java/frc/robot/commands/PinceManuel.java b/src/main/java/frc/robot/commands/Pince/PinceManuel.java
similarity index 97%
rename from src/main/java/frc/robot/commands/PinceManuel.java
rename to src/main/java/frc/robot/commands/Pince/PinceManuel.java
index 5b8b2c0..1382d39 100644
--- a/src/main/java/frc/robot/commands/PinceManuel.java
+++ b/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;
diff --git a/src/main/java/frc/robot/commands/PinceManuel2.java b/src/main/java/frc/robot/commands/PinceManuel2.java
deleted file mode 100644
index bf8d1e4..0000000
--- a/src/main/java/frc/robot/commands/PinceManuel2.java
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands;
-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) {
-    pince.pivote(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/GrimperHaut.java b/src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java
similarity index 97%
rename from src/main/java/frc/robot/commands/GrimperHaut.java
rename to src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java
index ad0ebf0..ce3f65a 100644
--- a/src/main/java/frc/robot/commands/GrimperHaut.java
+++ b/src/main/java/frc/robot/commands/grimpeur/GrimperHaut.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.grimpeur;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;
diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java
similarity index 98%
rename from src/main/java/frc/robot/commands/GrimpeurBas.java
rename to src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.java
index 7837e24..4dfc3b0 100644
--- a/src/main/java/frc/robot/commands/GrimpeurBas.java
+++ b/src/main/java/frc/robot/commands/grimpeur/GrimpeurBas.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.grimpeur;
 
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
diff --git a/src/main/java/frc/robot/commands/GrimpeurManuel.java b/src/main/java/frc/robot/commands/grimpeur/GrimpeurManuel.java
similarity index 97%
rename from src/main/java/frc/robot/commands/GrimpeurManuel.java
rename to src/main/java/frc/robot/commands/grimpeur/GrimpeurManuel.java
index 31a404b..60fdace 100644
--- a/src/main/java/frc/robot/commands/GrimpeurManuel.java
+++ b/src/main/java/frc/robot/commands/grimpeur/GrimpeurManuel.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.grimpeur;
 
 import java.util.function.DoubleSupplier;
 
diff --git a/src/main/java/frc/robot/commands/ResetGrimpeur.java b/src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java
similarity index 97%
rename from src/main/java/frc/robot/commands/ResetGrimpeur.java
rename to src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java
index b4e6978..5bf0bea 100644
--- a/src/main/java/frc/robot/commands/ResetGrimpeur.java
+++ b/src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.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.grimpeur;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Grimpeur;

From 82970eb6bde3f95942de9d308de668098d633590 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 27 Feb 2025 18:39:15 -0500
Subject: [PATCH 30/37] dossier requin

---
 .../java/frc/robot/commands/{ => requin}/BalayeuseAlgue.java    | 2 +-
 src/main/java/frc/robot/commands/{ => requin}/BalayeuseBas.java | 2 +-
 .../java/frc/robot/commands/{ => requin}/BalayeuseCoral.java    | 2 +-
 .../java/frc/robot/commands/{ => requin}/BalayeuseHaut.java     | 2 +-
 src/main/java/frc/robot/commands/{ => requin}/ExpireAlgue.java  | 2 +-
 src/main/java/frc/robot/commands/{ => requin}/L1Requin.java     | 2 +-
 src/main/java/frc/robot/commands/{ => requin}/aspire.java       | 2 +-
 src/main/java/frc/robot/commands/{ => requin}/exspire.java      | 2 +-
 .../java/frc/robot/commands/{ => requin}/requin_manuel.java     | 2 +-
 9 files changed, 9 insertions(+), 9 deletions(-)
 rename src/main/java/frc/robot/commands/{ => requin}/BalayeuseAlgue.java (97%)
 rename src/main/java/frc/robot/commands/{ => requin}/BalayeuseBas.java (97%)
 rename src/main/java/frc/robot/commands/{ => requin}/BalayeuseCoral.java (98%)
 rename src/main/java/frc/robot/commands/{ => requin}/BalayeuseHaut.java (97%)
 rename src/main/java/frc/robot/commands/{ => requin}/ExpireAlgue.java (97%)
 rename src/main/java/frc/robot/commands/{ => requin}/L1Requin.java (97%)
 rename src/main/java/frc/robot/commands/{ => requin}/aspire.java (97%)
 rename src/main/java/frc/robot/commands/{ => requin}/exspire.java (97%)
 rename src/main/java/frc/robot/commands/{ => requin}/requin_manuel.java (97%)

diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
similarity index 97%
rename from src/main/java/frc/robot/commands/BalayeuseAlgue.java
rename to src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
index e97fec5..212583b 100644
--- a/src/main/java/frc/robot/commands/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.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.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;
diff --git a/src/main/java/frc/robot/commands/BalayeuseBas.java b/src/main/java/frc/robot/commands/requin/BalayeuseBas.java
similarity index 97%
rename from src/main/java/frc/robot/commands/BalayeuseBas.java
rename to src/main/java/frc/robot/commands/requin/BalayeuseBas.java
index 6aefaeb..67d0687 100644
--- a/src/main/java/frc/robot/commands/BalayeuseBas.java
+++ b/src/main/java/frc/robot/commands/requin/BalayeuseBas.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.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Requin;
diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/requin/BalayeuseCoral.java
similarity index 98%
rename from src/main/java/frc/robot/commands/BalayeuseCoral.java
rename to src/main/java/frc/robot/commands/requin/BalayeuseCoral.java
index 2f53b19..5b12ada 100644
--- a/src/main/java/frc/robot/commands/BalayeuseCoral.java
+++ b/src/main/java/frc/robot/commands/requin/BalayeuseCoral.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.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;
diff --git a/src/main/java/frc/robot/commands/BalayeuseHaut.java b/src/main/java/frc/robot/commands/requin/BalayeuseHaut.java
similarity index 97%
rename from src/main/java/frc/robot/commands/BalayeuseHaut.java
rename to src/main/java/frc/robot/commands/requin/BalayeuseHaut.java
index 5bf884f..eea2d7d 100644
--- a/src/main/java/frc/robot/commands/BalayeuseHaut.java
+++ b/src/main/java/frc/robot/commands/requin/BalayeuseHaut.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.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Requin;
diff --git a/src/main/java/frc/robot/commands/ExpireAlgue.java b/src/main/java/frc/robot/commands/requin/ExpireAlgue.java
similarity index 97%
rename from src/main/java/frc/robot/commands/ExpireAlgue.java
rename to src/main/java/frc/robot/commands/requin/ExpireAlgue.java
index fea308e..679c6ce 100644
--- a/src/main/java/frc/robot/commands/ExpireAlgue.java
+++ b/src/main/java/frc/robot/commands/requin/ExpireAlgue.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.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Requin;
diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/requin/L1Requin.java
similarity index 97%
rename from src/main/java/frc/robot/commands/L1Requin.java
rename to src/main/java/frc/robot/commands/requin/L1Requin.java
index 3b871ce..1a7d127 100644
--- a/src/main/java/frc/robot/commands/L1Requin.java
+++ b/src/main/java/frc/robot/commands/requin/L1Requin.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.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;
diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/requin/aspire.java
similarity index 97%
rename from src/main/java/frc/robot/commands/aspire.java
rename to src/main/java/frc/robot/commands/requin/aspire.java
index 96ce671..5105d83 100644
--- a/src/main/java/frc/robot/commands/aspire.java
+++ b/src/main/java/frc/robot/commands/requin/aspire.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.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Requin;
diff --git a/src/main/java/frc/robot/commands/exspire.java b/src/main/java/frc/robot/commands/requin/exspire.java
similarity index 97%
rename from src/main/java/frc/robot/commands/exspire.java
rename to src/main/java/frc/robot/commands/requin/exspire.java
index 5229cc9..9c57fe0 100644
--- a/src/main/java/frc/robot/commands/exspire.java
+++ b/src/main/java/frc/robot/commands/requin/exspire.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.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Requin;
diff --git a/src/main/java/frc/robot/commands/requin_manuel.java b/src/main/java/frc/robot/commands/requin/requin_manuel.java
similarity index 97%
rename from src/main/java/frc/robot/commands/requin_manuel.java
rename to src/main/java/frc/robot/commands/requin/requin_manuel.java
index 30d8d7b..9a3fa3d 100644
--- a/src/main/java/frc/robot/commands/requin_manuel.java
+++ b/src/main/java/frc/robot/commands/requin/requin_manuel.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.requin;
 
 import java.util.function.DoubleSupplier;
 

From 95f4f74a47c66be0e21e78e8c5c964e12ee6de17 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 27 Feb 2025 18:42:03 -0500
Subject: [PATCH 31/37] modification depart

---
 src/main/java/frc/robot/RobotContainer.java                | 2 +-
 .../java/frc/robot/commands/{ => Elevateur}/Depart.java    | 7 ++-----
 2 files changed, 3 insertions(+), 6 deletions(-)
 rename src/main/java/frc/robot/commands/{ => Elevateur}/Depart.java (91%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 69953ad..353bf56 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -26,11 +26,11 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
-import frc.robot.commands.Depart;
 import frc.robot.commands.Forme3;
 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;
diff --git a/src/main/java/frc/robot/commands/Depart.java b/src/main/java/frc/robot/commands/Elevateur/Depart.java
similarity index 91%
rename from src/main/java/frc/robot/commands/Depart.java
rename to src/main/java/frc/robot/commands/Elevateur/Depart.java
index f624039..56f684b 100644
--- a/src/main/java/frc/robot/commands/Depart.java
+++ b/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.
   }
 
@@ -41,7 +39,6 @@ public class Depart extends Command {
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
-    pince.pivote(0);
   }
 
   // Returns true when the command should end.

From b0e09988a30a6f693825aebe466b95322330e03b Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 27 Feb 2025 18:47:46 -0500
Subject: [PATCH 32/37] modification elevateur manuel pour limit switch

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

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 353bf56..266d36c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -103,7 +103,12 @@ public class RobotContainer {
     // Elevateur manuel
     drivetrain.registerTelemetry(logger::telemeterize);
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.1));
+      if(elevateur.limit2()){
+        elevateur.vitesse(0);
+      }
+      else{
+        elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftX(), 0.1));
+      }
     }, elevateur));
 
     //Pince manuel

From 4bba37215f817305ce38759f14bd03c2d4811462 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Thu, 27 Feb 2025 19:03:26 -0500
Subject: [PATCH 33/37] joysticks mieux^3

---
 src/main/java/frc/robot/RobotContainer.java | 12 ++++++------
 src/main/java/frc/robot/commands/reset.java |  2 +-
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 07aa04f..a1f1808 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -100,20 +100,20 @@ public class RobotContainer {
  drivetrain.setDefaultCommand(
           // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
-            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
-              .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.10000)) // Drive left with negative X (left)
-              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
+            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
+              .withVelocityY(MathUtil.applyDeadband(manette1.getLeftY()*manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
         )
       );
     // Elevateur manuel
     drivetrain.registerTelemetry(logger::telemeterize);
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1));
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
     }, elevateur));
 
     //Pince manuel
     pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
     }, pince));
      
     
@@ -130,7 +130,7 @@ public class RobotContainer {
     //manette2
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
     manette2.a().whileTrue(new CorailAspir(pince));
-    manette2.start().whileTrue(new reset(elevateur));
+    manette2.start().whileTrue(new reset(elevateur,pince));
     manette2.b().whileTrue(new Algue_inspire(pince));
     manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
diff --git a/src/main/java/frc/robot/commands/reset.java b/src/main/java/frc/robot/commands/reset.java
index d6ba79b..9a61223 100644
--- a/src/main/java/frc/robot/commands/reset.java
+++ b/src/main/java/frc/robot/commands/reset.java
@@ -15,7 +15,7 @@ public class reset extends Command {
   /** Creates a new reset. */
   private Elevateur elevateur;
   private Pince pince;
-  public reset(Elevateur elevateur) {
+  public reset(Elevateur elevateur, Pince pince) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.elevateur = elevateur;
     this.pince = pince;

From 9cb0940f095ba37e9c1933346f569f25616983c2 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 27 Feb 2025 19:03:36 -0500
Subject: [PATCH 34/37] touche

---
 src/main/java/frc/robot/RobotContainer.java | 89 +++++++++++----------
 1 file changed, 47 insertions(+), 42 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 266d36c..bc70887 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -41,6 +41,9 @@ import frc.robot.commands.Pince.CorailAspir;
 import frc.robot.commands.Pince.CoralAlgueInspire;
 import frc.robot.commands.Pince.CoralExpire;
 import frc.robot.commands.Pince.PinceManuel;
+import frc.robot.commands.requin.BalayeuseBas;
+import frc.robot.commands.requin.BalayeuseHaut;
+import frc.robot.commands.requin.exspire;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
@@ -48,6 +51,7 @@ import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Limelight3;
 import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 public class RobotContainer {
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@@ -78,6 +82,7 @@ public class RobotContainer {
   Limelight3 limelight3 = new Limelight3();
   Pose2d pose = new Pose2d();
   Grimpeur Grimpeur = new Grimpeur();
+  Requin requin = new Requin();
   
   public RobotContainer() {
     autoChooser = AutoBuilder.buildAutoChooser("New Auto");
@@ -91,17 +96,47 @@ public class RobotContainer {
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
     }
   private void configureBindings() {
-    
- drivetrain.setDefaultCommand(
-          // Drivetrain will execute this command periodically
-          drivetrain.applyRequest(() ->
-            drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
-              .withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left)
-              .withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
+    drivetrain.registerTelemetry(logger::telemeterize);
+    drivetrain.setDefaultCommand(
+        // Drivetrain will execute this command periodically
+        drivetrain.applyRequest(() ->
+          drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
+            .withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left)
+            .withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
         )
       );
-    // Elevateur manuel
-    drivetrain.registerTelemetry(logger::telemeterize);
+   
+     
+            /* Manette 1 */
+    // reset the field-centric heading on start press
+    manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+
+    //pince
+    manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
+    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
+    manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
+
+     //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));
+
+            /* Manette 2 */
+    //pince
+    manette2.a().whileTrue(new CorailAspir(pince));
+    manette2.b().whileTrue(new Algue_inspire(pince));
+    manette2.y().whileTrue(new BalayeuseHaut(requin));
+    manette2.x().whileTrue(new BalayeuseBas(requin));
+    manette2.rightTrigger().whileTrue(new exspire(requin));
+    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+
+     //Pince manuel
+     pince.setDefaultCommand(new RunCommand(()->{
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
+    }, pince));
+
+    //Elevateur manuel
     elevateur.setDefaultCommand(new RunCommand(()->{
       if(elevateur.limit2()){
         elevateur.vitesse(0);
@@ -111,43 +146,13 @@ public class RobotContainer {
       }
     }, elevateur));
 
-    //Pince manuel
-    pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
-    }, pince));
-     
-    
-    // manette1
-
-    // 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
-
-    //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));
+
+    //Reset encodeur
+    manette2.start().whileTrue(new reset(elevateur, pince));
   }
-  
-    // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
     
     public Command getAutonomousCommand() {
       return new SequentialCommandGroup(Commands.runOnce(()->{

From 280270245e99f77066357afcaf9b9b66ecb00c2a Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 27 Feb 2025 19:22:36 -0500
Subject: [PATCH 35/37] =?UTF-8?q?Limit=20swich=20elevateur=20+=20limit=20s?=
 =?UTF-8?q?witch=20pince=20(test=C3=A9=20en=20simulation-Fonctionne)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 .../commands/Elevateur/ElevateurManuel.java   |  5 ++-
 .../frc/robot/commands/Pince/Algue1Test.java  | 41 -------------------
 .../frc/robot/commands/Pince/Algue2Test.java  | 41 -------------------
 .../java/frc/robot/subsystems/Elevateur.java  | 14 +++++--
 src/main/java/frc/robot/subsystems/Pince.java | 27 ++++++------
 6 files changed, 31 insertions(+), 99 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/Pince/Algue1Test.java
 delete mode 100644 src/main/java/frc/robot/commands/Pince/Algue2Test.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 903b89d..3b58775 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -133,7 +133,7 @@ public class RobotContainer {
 
      //Pince manuel
      pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
     }, pince));
 
     //Elevateur manuel
diff --git a/src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java b/src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java
index 682fdc6..772df78 100644
--- a/src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java
+++ b/src/main/java/frc/robot/commands/Elevateur/ElevateurManuel.java
@@ -28,7 +28,10 @@ public class ElevateurManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (elevateur.limit2())
+    if (elevateur.limit2()){
+
+     
+    }
     elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
   }
 
diff --git a/src/main/java/frc/robot/commands/Pince/Algue1Test.java b/src/main/java/frc/robot/commands/Pince/Algue1Test.java
deleted file mode 100644
index ab5e886..0000000
--- a/src/main/java/frc/robot/commands/Pince/Algue1Test.java
+++ /dev/null
@@ -1,41 +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.Pince;
-
-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/Pince/Algue2Test.java b/src/main/java/frc/robot/commands/Pince/Algue2Test.java
deleted file mode 100644
index 386e4f1..0000000
--- a/src/main/java/frc/robot/commands/Pince/Algue2Test.java
+++ /dev/null
@@ -1,41 +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.Pince;
-
-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/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index 7ef7851..b329555 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -3,8 +3,6 @@
 // the WPILib BSD license file in the root directory of this project.
 
 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.wpilibj.shuffleboard.ShuffleboardTab;
@@ -25,7 +23,17 @@ public class Elevateur extends SubsystemBase {
     return monte.getEncoder().getPosition();
   }
   public void vitesse(double vitesse){
-    monte.set(vitesse);
+    if (limit2()) {
+      if (vitesse > 0) {
+        monte.set(0);
+      }
+      else{
+        monte.set(vitesse);
+      }
+    }
+    else{
+      monte.set(vitesse);
+    }
   }
   public boolean limit2(){
     return limit2.get();
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index f07f601..957b45b 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -6,8 +6,6 @@ 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.wpilibj.shuffleboard.ShuffleboardTab;
@@ -27,11 +25,21 @@ public class Pince extends SubsystemBase {
   final DigitalInput limit6 = new DigitalInput(9);
   
  
-  public void aspirecoral(double vitesse){
-    coral.set(vitesse);
-  }
+public void aspirecoral(double vitesse){
+  coral.set(vitesse);
+}
 public void pivote(double vitesse){
-  pivoti.set(vitesse);
+  if (position()) {
+    if (vitesse > 0) {
+      pivoti.set(0);
+    }
+    else{
+      pivoti.set(vitesse);
+    }
+  }
+  else{
+    pivoti.set(vitesse);
+  }
 }
 public void aspirealgue(double vitesse){
   algue2.set(-vitesse);
@@ -52,12 +60,7 @@ 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() {
     // This method will be called once per scheduler run

From 19bbde5cf6a876277f6f16d9ab4ce5e175a91aee Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 27 Feb 2025 19:24:31 -0500
Subject: [PATCH 36/37] Si besoin de Sysid. Code retirer lors de ce commit

---
 .../subsystems/CommandSwerveDrivetrain.java   | 89 -------------------
 1 file changed, 89 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 311b4ca..335ef61 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
 
 /**
@@ -44,71 +43,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
 
     private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
 
-    /* Swerve requests to apply during SysId characterization */
-    private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
-    private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
-    private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-
     /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
 
-    private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            null,        // Use default ramp rate (1 V/s)
-            Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
-            null,        // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            output -> setControl(m_translationCharacterization.withVolts(output)),
-            null,
-            this
-        )
-    );
-
-    /* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
-    private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            null,        // Use default ramp rate (1 V/s)
-            Volts.of(7), // Use dynamic voltage of 7 V
-            null,        // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            volts -> setControl(m_steerCharacterization.withVolts(volts)),
-            null,
-            this
-        )
-    );
-
-    /*
-     * SysId routine for characterizing rotation.
-     * This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
-     * See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
-     */
-    private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            /* This is in radians per second², but SysId only supports "volts per second" */
-            Volts.of(Math.PI / 6).per(Second),
-            /* This is in radians per second, but SysId only supports "volts" */
-            Volts.of(Math.PI),
-            null, // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            output -> {
-                /* output is actually radians per second, but SysId only supports "volts" */
-                setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
-                /* also log the requested output for SysId */
-                SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
-            },
-            null,
-            this
-        )
-    );
-    
     private void configureAutoBuilder() {
         try {
             var config = RobotConfig.fromGUISettings();
@@ -140,9 +76,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
             return 0;
          });  
         }
- 
-    /* The SysId routine to test */
-    private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -234,28 +167,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
         return run(() -> this.setControl(requestSupplier.get()));
     }
-
-    /**
-     * Runs the SysId Quasistatic test in the given direction for the routine
-     * specified by {@link #m_sysIdRoutineToApply}.
-     *
-     * @param direction Direction of the SysId Quasistatic test
-     * @return Command to run
-     */
-    public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
-        return m_sysIdRoutineToApply.quasistatic(direction);
-    }
-
-    /**
-     * Runs the SysId Dynamic test in the given direction for the routine
-     * specified by {@link #m_sysIdRoutineToApply}.
-     *
-     * @param direction Direction of the SysId Dynamic test
-     * @return Command to run
-     */
-    public Command sysIdDynamic(SysIdRoutine.Direction direction) {
-        return m_sysIdRoutineToApply.dynamic(direction);
-    }
     
     @Override
     public void periodic() {

From 85fa0e0c626176981cf8f300bdbf8df3fa0266be Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 27 Feb 2025 19:26:33 -0500
Subject: [PATCH 37/37] erreur de sam

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

diff --git a/src/main/java/frc/robot/commands/Elevateur/L3.java b/src/main/java/frc/robot/commands/Elevateur/L3.java
index b653c77..7b77690 100644
--- a/src/main/java/frc/robot/commands/Elevateur/L3.java
+++ b/src/main/java/frc/robot/commands/Elevateur/L3.java
@@ -39,8 +39,8 @@ public class L3 extends Command {
   public void execute() {
     double encodeurHaute = encodeur1.get();
     double encodeurBase = encodeur2.get();
-    double encodeurbase = encodeur3.get();
-    double encodeurhaute = encodeur4.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
     if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
       elevateur.vitesse(0);
     }