From ba7768a1889bb341729e38660808f6543231982e Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 5 Nov 2025 18:27:48 -0500
Subject: [PATCH 1/2]

---
 .../robot/commands/Pince/Algue_inspire.java   |  2 +-
 .../frc/robot/commands/Pince/CoralExpire.java |  2 +-
 .../java/frc/robot/subsystems/Bougie.java     | 42 +++++++++++++++----
 3 files changed, 36 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Pince/Algue_inspire.java b/src/main/java/frc/robot/commands/Pince/Algue_inspire.java
index 6c76b6b..6e5d426 100644
--- a/src/main/java/frc/robot/commands/Pince/Algue_inspire.java
+++ b/src/main/java/frc/robot/commands/Pince/Algue_inspire.java
@@ -31,7 +31,7 @@ public class Algue_inspire extends Command {
   @Override
   public void execute() {
     
-    if(pince.emperagealgue()>60){
+    if(pince.emperagealgue()>90){
       pince.aspirealgue(0);
       bougie.Bleu();
     }
diff --git a/src/main/java/frc/robot/commands/Pince/CoralExpire.java b/src/main/java/frc/robot/commands/Pince/CoralExpire.java
index 4db46df..5f67ff8 100644
--- a/src/main/java/frc/robot/commands/Pince/CoralExpire.java
+++ b/src/main/java/frc/robot/commands/Pince/CoralExpire.java
@@ -32,7 +32,7 @@ public class CoralExpire extends Command {
    }
     */
     pince.aspirecoral(-.5);
-    bougie.Jaune();
+    bougie.Rouge();
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index d56a9e0..d5df941 100644
--- a/src/main/java/frc/robot/subsystems/Bougie.java
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -14,20 +14,46 @@ public class Bougie extends SubsystemBase {
   CANdle candle = new CANdle(23);
   CANdleConfiguration config = new CANdleConfiguration();
   RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 68);
+  int led = 16;
+  int led2 = 8;
+  boolean x =true;
   /** 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);
-   candle.setLEDs(255, 0, 0,0,72,8);
-   candle.setLEDs(255, 0, 0,0,88,8);
-   candle.setLEDs(255, 0, 0,0,104,8);
-   candle.setLEDs(255, 0, 0,0,120,8);
+    if(x){
+      candle.setLEDs(255, 0, 0,0,led,8);
+      led++;
+      candle.setLEDs(0, 0, 0,0,led2,8); 
+      led2++; 
+      System.out.println("led monte");
+      System.out.println(led); 
+       if(led>=68){
+        x=false;
+        System.out.println("true"); 
+        System.out.println(x); 
+      } 
+     } 
+     if(!x){
+      candle.setLEDs(255, 0, 0,0,led2,8);
+      led2--;
+      candle.setLEDs(0, 0, 0,0,led,8); 
+      led--;
+      System.out.println("leds descendent"); 
+      
+      if(led==15){
+        x=true;
+        System.out.println("false"); 
+       }}
+  //  candle.setLEDs(255, 0, 0,0,24,8);
+  //  candle.setLEDs(255, 0, 0,0,40,8);
+  //  candle.setLEDs(255, 0, 0,0,56,8);
+  //  candle.setLEDs(255, 0, 0,0,72,8);
+  //  candle.setLEDs(255, 0, 0,0,88,8);
+  //  candle.setLEDs(255, 0, 0,0,104,8);
+  //  candle.setLEDs(255, 0, 0,0,120,8);
   }
   public void Vert() {
    candle.setLEDs(0, 255, 0,0,8,8);

From 38a0fc3413c74bcd4c9d1ae0f3d135750ce001a2 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 10 Nov 2025 18:06:08 -0500
Subject: [PATCH 2/2] avance

---
 src/main/java/frc/robot/RobotContainer.java               | 2 +-
 src/main/java/frc/robot/commands/Limelight/AprilTag3.java | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e0bf37a..73075ed 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -151,7 +151,7 @@ public class RobotContainer {
     elevateur.setDefaultCommand(new RunCommand(()->{
     elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
     }, elevateur));
-
+    
     //Reset encodeur
     manette2.start().whileTrue(new reset(elevateur, pince, requin));
   }
diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index e0de605..920b8a7 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -50,11 +50,14 @@ public class AprilTag3 extends Command {
     double a = limelight3.getTx();
   double b = (limelight3.getTA()*100) / (Math.cos(90-limelight3.getTx()));
     if(limelight3.getV() == true){
+      if(limelight3.getTA() > 1.2){
       drivetrain.setControl(drive.
       withRotationalRate(a/20).
       withVelocityX(0).
       withVelocityY( b/50));
        System.out.println(b/50);
+      }
+      
     }
     else{
       drivetrain.setControl(drive.