From e462e83f0ee5627c0a04c27c410217043b503a79 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 3 Mar 2025 09:43:24 -0500
Subject: [PATCH] amperage

---
 .../commands/Elevateur/StationPince.java      |  2 +-
 .../robot/commands/requin/BalayeuseAlgue.java | 34 +++++++++++--------
 2 files changed, 21 insertions(+), 15 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Elevateur/StationPince.java b/src/main/java/frc/robot/commands/Elevateur/StationPince.java
index c201b48..b149051 100644
--- a/src/main/java/frc/robot/commands/Elevateur/StationPince.java
+++ b/src/main/java/frc/robot/commands/Elevateur/StationPince.java
@@ -45,7 +45,7 @@ public class StationPince extends Command {
       if(pince.position()){
         pince.pivote(0);
       }
-     }
+    }
     else{
       pince.aspirecoral(0.1);
     }
diff --git a/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
index da18a74..0cc8453 100644
--- a/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
+++ b/src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
@@ -27,24 +27,30 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(requin.encodeur()<=715 &&  requin.encodeur()>=670)
-     {
-       requin.rotationer(0);
-       if(requin.amp()> 60){
-       requin.balaye(0);
-       bougie.Vert();
+    
+     if(requin.amp()>=12){
+      requin.xRequin = true;
      }
-      else
-      {
-           requin.balaye(-0.5);
-      }
-     }
-     else if(requin.encodeur()>=700){
-     requin.rotationer(-0.5);
+     if(requin.xRequin){
+      bougie.Vert();
+      requin.balaye(0);
      }
      else{
-      requin.rotationer(0.5);
+      requin.balaye(.2);
      }
+     if(!requin.xRequin){
+       if(requin.encodeur()>=700){
+        requin.rotationer(-0.5);
+        }
+        else{
+         requin.rotationer(0.5);
+        }
+        if(requin.encodeur()<=715 &&  requin.encodeur()>=670){
+          requin.rotationer(0);
+        }
+     }
+    
+   
     
    }