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

@@ -115,7 +115,6 @@ public class RobotContainer {
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
-    manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
 
      //elevateur
      manette1.a().whileTrue(new Depart(elevateur, pince));
@@ -124,12 +123,12 @@ public class RobotContainer {
      manette1.y().whileTrue(new L4(elevateur, pince));
 
             /* Manette 2 */
-    //requin
+    //pince
-    manette2.a().whileTrue(new CorailAspir(pince,bougie));
+    manette2.a().whileTrue(new CorailAspir(pince));
-    manette2.b().whileTrue(new Algue_inspire(pince,bougie));
+    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,bougie));
+    manette2.rightTrigger().whileTrue(new exspire(requin));
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
 
      //Pince manuel

src/main/java/frc/robot/commands/Pince/Algue_inspire.java

@@ -5,18 +5,15 @@
 package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
 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 Algue_inspire extends Command {
   /** Creates a new Algue_inspire. */
   private Pince pince;
-  private Bougie bougie;
+  public Algue_inspire(Pince pince) {
-  public Algue_inspire(Pince pince, Bougie bougie) {
     this.pince = pince;
-    this.bougie = bougie;
+    addRequirements(pince);
-    addRequirements(pince, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -30,15 +27,7 @@ public class Algue_inspire extends Command {
   //ajouter l'amperage pour arreter les moteurs
   @Override
   public void execute() {
-    
+    pince.aspirealgue(0.5);
-    if(pince.emperagealgue()>60){
-      pince.aspirealgue(0);
-      bougie.Bleu();
-    }
-    else{
-      pince.aspirealgue(0.5);
-      
-    }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Pince/CorailAspir.java

@@ -5,19 +5,16 @@
 package frc.robot.commands.Pince;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
 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 CorailAspir extends Command {
   /** Creates a new CorailAspir. */
   private Pince pince;
-  Bougie bougie;
+  public CorailAspir(Pince pince) {
-  public CorailAspir(Pince pince, Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.pince = pince;
-    this.bougie = bougie;
+    addRequirements(pince);
-    addRequirements(pince,bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -27,10 +24,7 @@ public class CorailAspir extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral() > 60){
+
-      pince.aspirecoral(0);
-      bougie.Bleu();
-    }
     pince.aspirecoral(0.5);
   }
 

src/main/java/frc/robot/commands/Pince/CorailTest.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.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 CorailTest extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public CorailTest(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.aspirecoral(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Pince/CoralAlgueInspire.java

@@ -31,11 +31,11 @@ public class CoralAlgueInspire extends Command {
     if(pince.emperagealgue()>60){
       pince.aspirealgue(0);
       bougie.Bleu();
-      } 
+     } 
      else{
       pince.aspirealgue(0.5);
-      bougie.Jaune();
       }
+    
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Pince/CoralExpire.java

@@ -26,13 +26,13 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral() > 60){
+    //if(pince.emperagecoral() > 60){
-     pince.aspirecoral(0);
+    //  pince.aspirecoral(0);
-   }
+   //}
-   else{
+   //else{
     pince.aspirecoral(-.5);
-    bougie.Jaune();
+    //bougie.Jaune();
-    }
+   // }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,19 +5,15 @@
 package frc.robot.commands.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class ExpireAlgue extends Command {
   private Requin requin;
-  private Bougie bougie;
   /** Creates a new ExpireAlgue. */
-  public ExpireAlgue(Requin requin, Bougie bougie
+  public ExpireAlgue(Requin requin) {
-  ) {
     this.requin = requin;
-    this.bougie = bougie;
+    addRequirements(requin);
-    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -28,14 +24,7 @@ public class ExpireAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.amp()> 60){
+    requin.balaye(0.5);
-      requin.balaye(-0.5);
-    }
-     else
-     {
-          bougie.Rouge();
-          requin.balaye(-0.5);
-     }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -30,7 +30,7 @@ public class L1Requin extends Command {
     
     if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
       requin.rotationer(0);
-      if(requin.amp()>60){
+      if(requin.amp()>8){
       requin.balaye(-0.5);
     }
         else{

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

@@ -5,19 +5,16 @@
 package frc.robot.commands.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class aspire extends Command {
   /** Creates a new aspire. */
   private Requin requin;
-  private Bougie bougie;
+  public aspire(Requin requin) {
-  public aspire(Requin requin, Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.requin = requin;
-    this.bougie = bougie;
+    addRequirements(requin);
-    addRequirements(requin, bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -27,14 +24,7 @@ public class aspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.amp()> 60){
+    requin.balaye(0.3);
-      requin.balaye(0);
-      bougie.Vert();
-    }
-     else
-     {
-          requin.balaye(0.5);
-     }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -5,21 +5,16 @@
 package frc.robot.commands.requin;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class exspire extends Command {
   /** Creates a new aspire. */
   private Requin requin;
-  private Bougie bougie
+  public exspire(Requin requin) {
-  ;
-  public exspire(Requin requin,Bougie bougie) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.requin = requin;
-    this.bougie
+    addRequirements(requin);
-    =bougie;
-    addRequirements(requin,bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -29,14 +24,7 @@ public class exspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.amp()> 60){
+    requin.balaye(-0.3);
-      requin.balaye(-0.5);
-    }
-     else
-     {
-          bougie.Rouge();
-          requin.balaye(-0.5);
-     }
   }
 
   // Called once the command ends or is interrupted.