From 172d3c92ab22112a79bf7fa77f926fcf019d9139 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Mon, 7 Apr 2025 12:06:05 -0400
Subject: [PATCH 1/8] led

---
 src/main/java/frc/robot/RobotContainer.java    |  4 ++--
 src/main/java/frc/robot/subsystems/Bougie.java | 10 +++++++++-
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index b49a82e..e0bf37a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -171,11 +171,11 @@ public class RobotContainer {
         .withVelocityY(0)
         .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35),
      drivetrain.applyRequest(()->
-     drive.withVelocityX(-0.1*MaxSpeed)
+     drive.withVelocityX(0.1*MaxSpeed)
     .withVelocityY(0)
     .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerR.getBoolean(true)).withTimeout(3),
     drivetrain.applyRequest(()->
-    drive.withVelocityX(0.1*MaxSpeed)
+    drive.withVelocityX(-0.1*MaxSpeed)
    .withVelocityY(0)
    .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3),
        drivetrain.applyRequest(()->
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index d56a9e0..32f6a34 100644
--- a/src/main/java/frc/robot/subsystems/Bougie.java
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -6,14 +6,22 @@ package frc.robot.subsystems;
 
 import com.ctre.phoenix.led.CANdle;
 import com.ctre.phoenix.led.CANdleConfiguration;
+import com.ctre.phoenix.led.FireAnimation;
+import com.ctre.phoenix.led.LarsonAnimation;
 import com.ctre.phoenix.led.RainbowAnimation;
+import com.ctre.phoenix.led.TwinkleAnimation;
+import com.ctre.phoenix.led.TwinkleOffAnimation;
+import com.ctre.phoenix.led.TwinkleOffAnimation.TwinkleOffPercent;
+import com.ctre.phoenix.led.LarsonAnimation.BounceMode;
+import com.ctre.phoenix.led.TwinkleAnimation.TwinklePercent;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Bougie extends SubsystemBase {
   CANdle candle = new CANdle(23);
   CANdleConfiguration config = new CANdleConfiguration();
-  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 68);
+  LarsonAnimation rainbowAnim = new LarsonAnimation(256,0,0,0,0.1,68,BounceMode.Front,10,8);
+  //TwinkleOffAnimation rainbowAnim = new TwinkleOffAnimation(256, 0, 0,0,0.5,68,TwinkleOffPercent.Percent88,8);
   /** Creates a new Bougie. */
   public Bougie() {
     config.brightnessScalar = 0.5;

From 0bf575ff377f3f593cfeeb05333a124ce909ec68 Mon Sep 17 00:00:00 2001
From: Samuel <2540638@etudiant.cegepvicto.com>
Date: Mon, 20 Oct 2025 18:39:08 -0400
Subject: [PATCH 2/8]

---
 build.gradle | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build.gradle b/build.gradle
index c6fea4f..ff9e9af 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.2.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.2"
 }
 
 java {

From 837435643bedbc1c6f422f42ac89e06619d24133 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Mon, 20 Oct 2025 18:42:24 -0400
Subject: [PATCH 3/8] pid fonctionne mais pas de pid

---
 .../java/frc/robot/commands/Elevateur/L3.java | 49 +++++++++++--------
 1 file changed, 28 insertions(+), 21 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Elevateur/L3.java b/src/main/java/frc/robot/commands/Elevateur/L3.java
index cb940c0..8011b68 100644
--- a/src/main/java/frc/robot/commands/Elevateur/L3.java
+++ b/src/main/java/frc/robot/commands/Elevateur/L3.java
@@ -5,7 +5,7 @@
 package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.wpilibj2.command.Command;
-
+import edu.wpi.first.math.controller.PIDController;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
@@ -13,6 +13,8 @@ import frc.robot.subsystems.Pince;
 public class L3 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+  private PIDController pidController;
+  private double output;
   /** Creates a new L2. */
   public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -23,30 +25,35 @@ public class L3 extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    pidController = new PIDController(0.03, 0.001, 0.001);
+    pidController.reset();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
-    elevateur.vitesse(0);
-    pince.pivote(-0.15);
-    if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=20){
-      pince.pivote(-0.15);
-    }
-    else{
-      pince.pivote(0.15);
-    }
-  }
-  else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
-  elevateur.vitesse(-0.7);
-  }
-  else{
-    elevateur.vitesse(0.25);
-  }
+    output = pidController.calculate(elevateur.position(),20);
+    elevateur.vitesse(output);
+  // if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
+  //   elevateur.vitesse(0);
+  //   pince.pivote(-0.15);
+  //   if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
+  //     pince.pivote(0);
+  //   }
+  //   else if(pince.encodeurpivot()>=20){
+  //     pince.pivote(-0.15);
+  //   }
+  //   else{
+  //     pince.pivote(0.15);
+  //   }
+  // }
+  // else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
+  // elevateur.vitesse(-0.7);
+  // }
+  // else{
+  //   elevateur.vitesse(0.25);
+  // }
   }
 
   // Called once the command ends or is interrupted.

From 9f64f15ae4b08a413851217b153f9b1357dac479 Mon Sep 17 00:00:00 2001
From: Samuel <2540638@etudiant.cegepvicto.com>
Date: Mon, 27 Oct 2025 17:45:07 -0400
Subject: [PATCH 4/8] pid pour L3

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

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

From 37154519729aeb9be59bde44d809802a38ba7976 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 29 Oct 2025 18:34:30 -0400
Subject: [PATCH 5/8] =?UTF-8?q?pid=20d`=C3=A9douard?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../java/frc/robot/commands/Elevateur/L2.java | 27 ++++++----
 .../java/frc/robot/commands/Elevateur/L3.java | 14 +++--
 .../java/frc/robot/commands/Elevateur/L4.java | 54 ++++++++++++-------
 .../robot/commands/Limelight/AprilTag3.java   | 10 ++--
 .../frc/robot/commands/Limelight/Forme3.java  |  2 +-
 .../java/frc/robot/subsystems/Elevateur.java  |  6 ++-
 .../java/frc/robot/subsystems/Limelight3.java | 11 +++-
 src/main/java/frc/robot/subsystems/Pince.java |  5 +-
 8 files changed, 84 insertions(+), 45 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Elevateur/L2.java b/src/main/java/frc/robot/commands/Elevateur/L2.java
index 9b60cea..d550b5b 100644
--- a/src/main/java/frc/robot/commands/Elevateur/L2.java
+++ b/src/main/java/frc/robot/commands/Elevateur/L2.java
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands.Elevateur;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
@@ -11,6 +12,8 @@ import frc.robot.subsystems.Pince;
 public class L2 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+    private PIDController pidController;
+  private double output;
   /** Creates a new L2. */
   public L2(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -21,20 +24,24 @@ public class L2 extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    pidController = new PIDController(0.025, 0.00125,0.001, 0.01);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(pince.encodeurpivot()>=15 && pince.encodeurpivot()<=16.5){
-       pince.pivote(0);
-     }
-     else if(pince.encodeurpivot()>=15){
-       pince.pivote(-0.2);
-     }
-     else{
-       pince.pivote(0.1);
-     }
+    output = pidController.calculate(pince.encodeurpivot(),15);
+    pince.pivote(output);
+    //  if(pince.encodeurpivot()>=15 && pince.encodeurpivot()<=16.5){
+    //    pince.pivote(0);
+    //  }
+    //  else if(pince.encodeurpivot()>=15){
+    //    pince.pivote(-0.2);
+    //  }
+    //  else{
+    //    pince.pivote(0.1);
+    //  }
 
   }
 
diff --git a/src/main/java/frc/robot/commands/Elevateur/L3.java b/src/main/java/frc/robot/commands/Elevateur/L3.java
index 8011b68..b0b0ae7 100644
--- a/src/main/java/frc/robot/commands/Elevateur/L3.java
+++ b/src/main/java/frc/robot/commands/Elevateur/L3.java
@@ -13,8 +13,10 @@ import frc.robot.subsystems.Pince;
 public class L3 extends Command {
   private Elevateur elevateur;
   private Pince pince;
-  private PIDController pidController;
+  private PIDController pidController1;
+  private PIDController pidController2;
   private double output;
+  private double output2;
   /** Creates a new L2. */
   public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -26,15 +28,19 @@ public class L3 extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    pidController = new PIDController(0.03, 0.001, 0.001);
-    pidController.reset();
+    pidController1 = new PIDController(0.3, 0.04,0);
+    pidController2 = new PIDController(0.025, 0.00125,0.001, 0.01);
+    pidController1.reset();
+    pidController2.reset();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    output = pidController.calculate(elevateur.position(),20);
+    output = pidController1.calculate(elevateur.position(),-3);
+    output2 = pidController2.calculate(pince.encodeurpivot(),20);
     elevateur.vitesse(output);
+    pince.pivote(output2);
   // if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
   //   elevateur.vitesse(0);
   //   pince.pivote(-0.15);
diff --git a/src/main/java/frc/robot/commands/Elevateur/L4.java b/src/main/java/frc/robot/commands/Elevateur/L4.java
index 4b8dcbc..0ae6fe1 100644
--- a/src/main/java/frc/robot/commands/Elevateur/L4.java
+++ b/src/main/java/frc/robot/commands/Elevateur/L4.java
@@ -4,6 +4,7 @@
 
 package frc.robot.commands.Elevateur;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
@@ -12,6 +13,10 @@ import frc.robot.subsystems.Pince;
 public class L4 extends Command {
   private Elevateur elevateur;
   private Pince pince;
+  private PIDController pidController;
+  private PIDController pidController1;
+  private double output;
+  private double output1;
   /** Creates a new L2. */
   public L4(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
@@ -22,30 +27,39 @@ public class L4 extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    pidController = new PIDController(0.3, 0.04,0);
+    pidController1 = new PIDController(0.025, 0.00125,0.001, 0.01);
+    pidController.reset();
+    pidController1.reset();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
-      elevateur.vitesse(0); 
-      pince.pivote(-0.15);
-      if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
-        pince.pivote(0);
-      }
-      else if(pince.encodeurpivot()>=20){
-        pince.pivote(-0.15);
-      }
-      else{
-        pince.pivote(0.15);
-      }
-    }
-    else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
-      elevateur.vitesse(-0.7);
-    }
-    else{
-      elevateur.vitesse(.25);
-    }
+    output = pidController.calculate(elevateur.position(),-6.3);
+    elevateur.vitesse(output);
+    output1 = pidController1.calculate(pince.encodeurpivot(),20);
+    pince.pivote(output1);
+    // if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
+    //   elevateur.vitesse(0); 
+    //   pince.pivote(-0.15);
+    //   if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
+    //     pince.pivote(0);
+    //   }
+    //   else if(pince.encodeurpivot()>=20){
+    //     pince.pivote(-0.15);
+    //   }
+    //   else{
+    //     pince.pivote(0.15);
+    //   }
+    // }
+    // else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
+    //   elevateur.vitesse(-0.7);
+    // }
+    // else{
+    //   elevateur.vitesse(.25);
+    // }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 4253b96..7dd2172 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -47,14 +47,14 @@ public class AprilTag3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double a = limelight3.getX();
-   
+    double a = limelight3.getTx();
+    double b = limelight3.getRx();
     if(limelight3.getV() == true){
       drivetrain.setControl(drive.
       withRotationalRate(a/10).
-      withVelocityX(x.getAsDouble()).
-      withVelocityY(y.getAsDouble()));  
-       System.out.println(a/10);
+      withVelocityX(0).
+      withVelocityY(b/10));  
+       System.out.println(b/10);
     }
     else{
       drivetrain.setControl(drive.
diff --git a/src/main/java/frc/robot/commands/Limelight/Forme3.java b/src/main/java/frc/robot/commands/Limelight/Forme3.java
index 2504d38..8afaec4 100644
--- a/src/main/java/frc/robot/commands/Limelight/Forme3.java
+++ b/src/main/java/frc/robot/commands/Limelight/Forme3.java
@@ -46,7 +46,7 @@ public class Forme3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double a = limelight3.getX();
+    double a = limelight3.getTx();
     if(limelight3.getV() == true){
       drivetrain.setControl(drive.
       withRotationalRate(a/10).
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index 1ef7681..06c9250 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -31,10 +31,10 @@ public class Elevateur extends SubsystemBase {
     teb.add("encodeurelevateursationhaut", -0.4).getEntry();
     private GenericEntry distanceDeploiePince =
     teb.add("encodeurDeploiePince", 0.2).getEntry();
-       
   public Elevateur() {
     teb.addDouble("encodeur elevateur",this::position);
     teb.addBoolean("limit elevateur", this::limit2);
+    teb.addDouble("amperage elevateur", this::amp);
   }
   final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(0);
@@ -89,7 +89,9 @@ public class Elevateur extends SubsystemBase {
   public double distanceDeploiePince(){
     return distanceDeploiePince.getDouble(0.2);
   }
-  
+  public double amp(){
+    return monte.getOutputCurrent();
+  }
   
   @Override
   public void periodic() {
diff --git a/src/main/java/frc/robot/subsystems/Limelight3.java b/src/main/java/frc/robot/subsystems/Limelight3.java
index fe039c4..787fc37 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3.java
@@ -20,8 +20,15 @@ public class Limelight3 extends SubsystemBase {
       PortForwarder.add(port, "limelight.local", port);
     }
   }
-  public double getX(){
-    return LimelightHelpers.getTX("limelight-balon");
+  public double getTx(){
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry tx = table.getEntry("tx");
+    return tx.getDouble(0.0);
+  }
+  public double getRx(){
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry rx = table.getEntry("rx");
+    return rx.getDouble(0.0);
   }
   public boolean getV(){
     return LimelightHelpers.getTV("limelight-balon");
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 4ddc0a7..a75cb5f 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -19,6 +19,7 @@ public class Pince extends SubsystemBase {
     teb.addDouble("encodeur pince", this::encodeurpivot);
     teb.addDouble("amperage corail", this::emperagecoral);
     teb.addDouble("amperage algue", this::emperagealgue);
+    teb.addDouble("amperage pivotis", this::ampPivote);
   }
   final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
   final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
@@ -63,7 +64,9 @@ public double emperagealgue(){
   return algue1.getOutputCurrent();
 }
 public boolean x = false;
-
+public double ampPivote(){
+  return pivoti.getOutputCurrent();
+}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 299e1f8914797bd814748582001b68cb50408223 Mon Sep 17 00:00:00 2001
From: Samuel <2540638@etudiant.cegepvicto.com>
Date: Wed, 29 Oct 2025 18:44:15 -0400
Subject: [PATCH 6/8] Limelight 3d (j'ai peur)

---
 src/main/java/frc/robot/commands/Limelight/AprilTag3.java | 4 ++--
 src/main/java/frc/robot/subsystems/Limelight3.java        | 5 +++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 7dd2172..b275a8f 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -48,12 +48,12 @@ public class AprilTag3 extends Command {
   @Override
   public void execute() {
     double a = limelight3.getTx();
-    double b = limelight3.getRx();
+    double b = limelight3.getTA()*100/Math.cos(90-limelight3.getTx());
     if(limelight3.getV() == true){
       drivetrain.setControl(drive.
       withRotationalRate(a/10).
       withVelocityX(0).
-      withVelocityY(b/10));  
+      withVelocityY( b/30));  
        System.out.println(b/10);
     }
     else{
diff --git a/src/main/java/frc/robot/subsystems/Limelight3.java b/src/main/java/frc/robot/subsystems/Limelight3.java
index 787fc37..75dd7ce 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3.java
@@ -25,6 +25,11 @@ public class Limelight3 extends SubsystemBase {
     NetworkTableEntry tx = table.getEntry("tx");
     return tx.getDouble(0.0);
   }
+  public double getTA(){
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry ta = table.getEntry("ta");
+    return ta.getDouble(0.0);
+  }
   public double getRx(){
     NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
     NetworkTableEntry rx = table.getEntry("rx");

From 9a4a3bf0b1d47e54a26fc528a0dcd3e3520fafa4 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 29 Oct 2025 19:03:12 -0400
Subject: [PATCH 7/8] test d'april tag pas concluant

---
 src/main/java/frc/robot/commands/Limelight/AprilTag3.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index b275a8f..fb65005 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -48,12 +48,12 @@ public class AprilTag3 extends Command {
   @Override
   public void execute() {
     double a = limelight3.getTx();
-    double b = limelight3.getTA()*100/Math.cos(90-limelight3.getTx());
+  double b = (limelight3.getTA()*100) / (Math.cos(90-limelight3.getTx()));
     if(limelight3.getV() == true){
       drivetrain.setControl(drive.
       withRotationalRate(a/10).
       withVelocityX(0).
-      withVelocityY( b/30));  
+      withVelocityY( b/30));
        System.out.println(b/10);
     }
     else{

From 34ea5ba46fe2066dc588521a7019e2c103f05859 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 29 Oct 2025 19:44:55 -0400
Subject: [PATCH 8/8] test de formule pour b pas concluant(j'ai moins peur)

---
 src/main/java/frc/robot/commands/Limelight/AprilTag3.java | 6 +++---
 src/main/java/frc/robot/subsystems/Elevateur.java         | 1 -
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index fb65005..e0de605 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -51,10 +51,10 @@ public class AprilTag3 extends Command {
   double b = (limelight3.getTA()*100) / (Math.cos(90-limelight3.getTx()));
     if(limelight3.getV() == true){
       drivetrain.setControl(drive.
-      withRotationalRate(a/10).
+      withRotationalRate(a/20).
       withVelocityX(0).
-      withVelocityY( b/30));
-       System.out.println(b/10);
+      withVelocityY( b/50));
+       System.out.println(b/50);
     }
     else{
       drivetrain.setControl(drive.
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index 615bf6d..314d3f7 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;