led

src/main/deploy/pathplanner/autos/baleeuse.auto

@@ -0,0 +1,63 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "New Path"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "baleeuse"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "baleeuse sort"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/New Path.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.8820696721311476,
-        "y": 6.0
+        "x": 7.564241803278687,
+        "y": 3.899129098360655
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.8706512438743716,
-        "y": 5.690872003047288
+        "x": 6.506996649367605,
+        "y": 3.898163120386143
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.8820696721311476,
-        "y": 3.1279999999999997
+        "x": 6.269569672131147,
+        "y": 3.899129098360655
       },
       "prevControl": {
-        "x": 1.8863317961339294,
-        "y": 3.3779636659576444
+        "x": 7.259410179761819,
+        "y": 3.9002985318003183
       },
       "nextControl": null,
       "isLocked": false,
@@ -35,8 +35,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxAngularVelocity": 0.1,
+    "maxAngularAcceleration": 0.1,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

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

@@ -5,21 +5,21 @@
 package frc.robot;
 
 import static edu.wpi.first.units.Units.*;
+
+import java.util.Map;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.commands.PathPlannerAuto;
-import com.pathplanner.lib.util.FlippingUtil;
+import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -41,19 +41,31 @@ 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.BalayeuseAlgue;
+import frc.robot.commands.requin.BalayeuseCoral;
 import frc.robot.commands.requin.BalayeuseHaut;
-import frc.robot.commands.requin.exspire;
+import frc.robot.commands.requin.ExpireCorail;
+import frc.robot.commands.requin.L1Requin;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
-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;
+import frc.robot.commands.requin.exspire;
+import frc.robot.commands.Pince.DepartPince;
+import frc.robot.commands.Elevateur.balonL2;
+import frc.robot.commands.Elevateur.balonL3;
 
 public class RobotContainer {
+  ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
+    .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
+  GenericEntry L1 = layoutauto.add("choix L1",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry sortirAngle = layoutauto.add("Cote?",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry ReculerB = layoutauto.add("ReculerB",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry ReculerR = layoutauto.add("ReculerR",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry L4 = layoutauto.add("L4",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
@@ -68,7 +80,6 @@ public class RobotContainer {
   private final CommandXboxController manette2 = new CommandXboxController(1);
   private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
   public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-  private final SendableChooser<Command> autoChooser;
   public double getAngle() {
     return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
   }
@@ -81,60 +92,59 @@ public class RobotContainer {
   Limelight3G limelight3g = new Limelight3G();
   Limelight3 limelight3 = new Limelight3();
   Pose2d pose = new Pose2d();
-  Grimpeur Grimpeur = new Grimpeur();
   Requin requin = new Requin();
-  
+  CorailAspir corailAspir = new CorailAspir(pince, bougie);
   public RobotContainer() {
-    autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-    SmartDashboard.putData("Auto Mode", autoChooser);
+  CameraServer.startAutomaticCapture();
   configureBindings();
-    NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
-    NamedCommands.registerCommand("L4", new L4(elevateur, pince));
-    NamedCommands.registerCommand("L3", new L3(elevateur, pince));
-    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
-    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
   }
+
   private void configureBindings() {
     drivetrain.registerTelemetry(logger::telemeterize);
     drivetrain.setDefaultCommand(
       // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
-            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)
+            drive.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*-manette1.getLeftX()*-manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
+              .withVelocityX(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)
         )
       );
     
-     
             /* 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));
+    manette1.rightBumper().toggleOnTrue(new StationPince(pince, elevateur,bougie));
+    manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie));
     manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
-
+    manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
+    manette1.leftTrigger().whileTrue(new DepartPince(pince));
+    manette1.povDown().whileTrue(new Algue_inspire(pince,bougie));
+    manette1.leftStick().whileTrue(new CorailAspir(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));
+    manette1.a().toggleOnTrue(new Depart(elevateur, pince));
+    manette1.b().toggleOnTrue(new L2(elevateur,pince));
+    manette1.x().toggleOnTrue(new L3(elevateur, pince));
+    manette1.y().toggleOnTrue(new L4(elevateur, pince));
+    manette1.povUp().toggleOnTrue(new balonL2(elevateur));
+    manette1.start().toggleOnTrue(new balonL3(elevateur));
+
 
             /* Manette 2 */
     //requin
-    manette2.a().whileTrue(new CorailAspir(pince,bougie));
-    manette2.b().whileTrue(new Algue_inspire(pince,bougie));
-    manette2.y().whileTrue(new BalayeuseHaut(requin));
-    manette2.x().whileTrue(new BalayeuseBas(requin));
-    manette2.rightTrigger().whileTrue(new exspire(requin,bougie));
-    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+    manette2.rightBumper().whileTrue(new BalayeuseAlgue(requin,bougie));
+    manette2.leftBumper().whileTrue(new L1Requin(requin, bougie));
+    manette2.rightTrigger().whileTrue(new BalayeuseHaut(requin));
+    manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie));
+    manette2.y().whileTrue(new exspire(requin, bougie));
+    manette2.x().whileTrue(new ExpireCorail(requin, bougie));
+
+    //limelight
+    manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
     
     //Pince manuel
     pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
+    pince.pivote(MathUtil.applyDeadband((manette2.getRightY()*manette2.getRightY()*manette2.getRightY())/3, 0.05));
     }, pince));
 
     //Elevateur manuel
@@ -142,23 +152,39 @@ public class RobotContainer {
     elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
     }, elevateur));
 
-    //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.start().whileTrue(new reset(elevateur, pince, requin));
   }
     
     public Command getAutonomousCommand() {
-      return new SequentialCommandGroup(Commands.runOnce(()->{
-        boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
-        if(flip){
-            drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
-        }
-        else{
-            drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
-        }
-      }),autoChooser.getSelected(), new RainBow(bougie));
+      return new SequentialCommandGroup(
+        drivetrain.applyRequest(()->
+        drive.withVelocityX(0.1*MaxSpeed)
+       .withVelocityY(0)
+       .withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5),
+       drivetrain.applyRequest(()->
+       drive.withVelocityX(-0.1*MaxSpeed)
+      .withVelocityY(0)
+      .withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5),
+        drivetrain.applyRequest(()->
+         drive.withVelocityX(-0.1*MaxSpeed)
+        .withVelocityY(0)
+        .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35),
+     drivetrain.applyRequest(()->
+     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)
+   .withVelocityY(0)
+   .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3),
+       drivetrain.applyRequest(()->
+        drive.withVelocityX(0)
+       .withVelocityY(0)
+       .withRotationalRate(0)).withTimeout(0.1),
+        new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
+        new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2),
+        new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2),
+        new RainBow(bougie));
     }    
 }

src/main/java/frc/robot/TunerConstants/TunerConstants.java

@@ -78,7 +78,7 @@ public class TunerConstants {
 
     // Theoretical free speed (m/s) at 12 V applied output;
     // This needs to be tuned to your individual robot
-    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(5.21);
+    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(6);
 
     // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
     // This may need to be tuned to your individual robot

src/main/java/frc/robot/commands/AvancerAuto.java

@@ -0,0 +1,54 @@
+// 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 static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.TunerConstants.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* 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 AvancerAuto extends Command {
+  private CommandSwerveDrivetrain commandSwerveDrivetrain = TunerConstants.createDrivetrain();
+   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
+   private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
+    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
+    .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvancerAuto. */
+  public AvancerAuto(SwerveRequest.RobotCentric drive, CommandSwerveDrivetrain commandSwerveDrivetrain) {
+    // 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() {
+    commandSwerveDrivetrain.applyRequest(()->
+     drive.withVelocityY(0.5*MaxSpeed)
+    .withVelocityX(0)
+    .withRotationalRate(0));
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drive.withVelocityY(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Elevateur/Depart.java

@@ -11,10 +11,12 @@ 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.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur, pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -25,6 +27,13 @@ public class Depart extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(pince.position()){
+      pince.pivote(0);
+      pince.reset();
+    }
+    else{
+      pince.pivote(-0.2);
+    }
     if(elevateur.limit2()==true){
       elevateur.vitesse(0);
       elevateur.reset();
@@ -32,13 +41,13 @@ public class Depart extends Command {
     else{
       elevateur.vitesse(.5);
     }
-    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Elevateur/L2.java

@@ -26,24 +26,14 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=elevateur.encodeurelevateurL2bas() && elevateur.position()>=elevateur.encodeurelevateurL2haut()){
-      elevateur.vitesse(0);
+     if(pince.encodeurpivot()>=15 && pince.encodeurpivot()<=16.5){
+       pince.pivote(0);
      }
-    else if(elevateur.position()>=elevateur.encodeurelevateurL2bas()){
-      elevateur.vitesse(-0.2);
+     else if(pince.encodeurpivot()>=15){
+       pince.pivote(-0.2);
      }
      else{
-      elevateur.vitesse(.2);
-    // }
-    // if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
-    //   pince.pivote(0);
-     
-    // }
-    // else if(pince.encodeurpivot()>=510){
-    //   pince.pivote(0.2);
-    // }
-    // else{
-    //   pince.pivote(-0.2);
+       pince.pivote(0.1);
      }
 
   }

src/main/java/frc/robot/commands/Elevateur/L3.java

@@ -30,22 +30,23 @@ public class L3 extends Command {
   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(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
-      elevateur.vitesse(-0.2);
+    else if(pince.encodeurpivot()>=20){
+      pince.pivote(-0.15);
     }
     else{
-      elevateur.vitesse(.2);
+      pince.pivote(0.15);
+    }
+  }
+  else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
+  elevateur.vitesse(-0.7);
+  }
+  else{
+    elevateur.vitesse(0.25);
   }
-    // if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
-    //   pince.pivote(0);
-    // }
-    // else if(pince.encodeurpivot()>=710){
-    //   pince.pivote(0.2);
-    // }
-    // else{
-    //   pince.pivote(-0.2);
-    // }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Elevateur/L4.java

@@ -29,22 +29,23 @@ public class L4 extends Command {
   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(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
-      elevateur.vitesse(-0.2);
+      else if(pince.encodeurpivot()>=20){
+        pince.pivote(-0.15);
       }
       else{
-      elevateur.vitesse(.2);
+        pince.pivote(0.15);
+      }
+    }
+    else if(elevateur.position()>=elevateur.encodeurelevateurL4bas()){
+      elevateur.vitesse(-0.7);
+    }
+    else{
+      elevateur.vitesse(.25);
     }
-    // if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
-    //   pince.pivote(0);
-    // }
-    // else if(pince.encodeurpivot()>=810){
-    //   pince.pivote(0.2);
-    // }
-    // else{
-    //   pince.pivote(-0.2);
-    // }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Elevateur/StationPince.java

@@ -7,6 +7,7 @@ package frc.robot.commands.Elevateur;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
@@ -15,39 +16,60 @@ public class StationPince extends Command {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private Pince pince;
   private Elevateur elevateur;
+  private Bougie bougie;
   /** Creates a new L2Pince. */
-  public StationPince(Pince pince,Elevateur elevateur) {
+  public StationPince(Pince pince,Elevateur elevateur, Bougie bougie) {
     this.elevateur = elevateur;
     this.pince = pince;
-    addRequirements(pince,elevateur);
+    this.bougie = bougie;
+    addRequirements(pince, elevateur, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(0.5);
-    if(pince.encodeurpivot()<=elevateur.encodeurelevateurstationbas() && pince.encodeurpivot()>=elevateur.encodeurelevateurstationhaut()){
-      pince.pivote(0);
+    
+    if(pince.emperagecoral() >= 18){     
+      pince.x = true;
     }
-    else if(pince.encodeurpivot()>=elevateur.encodeurelevateurstationbas()){
-      pince.pivote(0.2);
-    }
-    else{
-      pince.pivote(-0.2);
-    }
-    if(elevateur.position()>=400 && elevateur.position()<=410){
+      if(elevateur.position()<=-0.4 && elevateur.position()>= -0.5){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=410){
-      elevateur.vitesse(0.3);
+        else if(elevateur.position()>=-0.4){
+      elevateur.vitesse(-0.7);
       }
         else{
-      elevateur.vitesse(-.3);
+        elevateur.vitesse(0.25);
+      }
+    if(pince.x){
+      pince.aspirecoral(0);
+      bougie.Bleu();
+      pince.pivote(-0.2);
+      if(pince.position()){
+        pince.pivote(0);
+      }
+    }
+      else{
+      pince.aspirecoral(0.25);
+      
+    }
+    if (!pince.x){
+      pince.pivote(-0.15);
+      if(pince.encodeurpivot()>=10 && pince.encodeurpivot()<=11){
+        pince.pivote(0);
+      }
+      else if(pince.encodeurpivot()>=10.5){
+        pince.pivote(-0.15);
+      }
+      else{
+        pince.pivote(0.15);
+      }
     }    
   }
 
@@ -56,6 +78,8 @@ public class StationPince extends Command {
   public void end(boolean interrupted) {
     pince.pivote(0);
     pince.aspirecoral(0);
+    elevateur.vitesse(0);
+    pince.x =false;
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Elevateur/balonL2.java

@@ -2,22 +2,19 @@
 // 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.requin;
+package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Requin;
 
+import frc.robot.subsystems.Elevateur;
 /* 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, Bougie bougie) {
+public class balonL2 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public balonL2(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
-    this.requin = requin;
-    this.bougie = bougie;
-    addRequirements(requin, bougie);
   }
 
   // Called when the command is initially scheduled.
@@ -27,20 +24,21 @@ 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);
-      bougie.Vert();
+    if(elevateur.position()<=-2 && elevateur.position()>=-2.2){
+      elevateur.vitesse(0);
     }
-     else
-     {
-          requin.balaye(0.5);
+    else if(elevateur.position()>= -1.95){
+      elevateur.vitesse(-0.7);
+    }
+    else{
+      elevateur.vitesse(0.25);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.balaye(0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Elevateur/balonL3.java

@@ -2,17 +2,18 @@
 // 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.grimpeur;
+package frc.robot.commands.Elevateur;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+
+import frc.robot.subsystems.Elevateur;
 /* 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 GrimpeurBas extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new GrimpeurBas. */
-  public GrimpeurBas(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
+public class balonL3 extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public balonL3(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -23,20 +24,21 @@ public class GrimpeurBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
-      grimpeur.grimpe(0);
+    if(elevateur.position()<=-4 && elevateur.position()>=-4.1){
+      elevateur.vitesse(0);
     }
-    else if(grimpeur.encodeur()>=-38.5){
-      grimpeur.grimpe(-0.5);
+    else if(elevateur.position()>= -4){
+      elevateur.vitesse(-0.7);
     }
-   else{grimpeur.grimpe(0.5);
+    else{
+      elevateur.vitesse(0.25);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
+    elevateur.vitesse(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Limelight/AprilTag3G.java

@@ -48,10 +48,10 @@ public class AprilTag3G extends Command {
     double a = limelight3g.getX();
     if(limelight3g.getV() == true){
       drivetrain.setControl(drive.
-      withRotationalRate(-a/5).
-      withVelocityX(x.getAsDouble()).
-      withVelocityY(y.getAsDouble()));  
-       System.out.println(a/5);
+      withRotationalRate(-a/7).
+      withVelocityY(x.getAsDouble()).
+      withVelocityX(-y.getAsDouble()));  
+       System.out.println(a/7);
     }
     else{
       drivetrain.setControl(drive.
@@ -73,6 +73,6 @@ public class AprilTag3G extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return limelight3g.getX()<1 && limelight3g.getX()>-1;
+    return false;
   }
 }

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

@@ -37,7 +37,6 @@ public class Algue_inspire extends Command {
     }
     else{
       pince.aspirealgue(0.5);
-      
     }
   }
 

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

@@ -27,13 +27,16 @@ public class CorailAspir extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral() > 60){
+    if(pince.emperagecoral() > 15){
       pince.aspirecoral(0);
       bougie.Bleu();
     }
+    else{
      pince.aspirecoral(0.5); 
     }
     
+  }
+
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
@@ -43,6 +46,6 @@ public class CorailAspir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return pince.emperagecoral()>13;
   }
 }

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

@@ -26,14 +26,14 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    /*  je crois que ce nest pas necessaire
     if(pince.emperagecoral() > 60){
      pince.aspirecoral(0);
    }
-   else{
+    */
     pince.aspirecoral(-.5);
     bougie.Jaune();
   }
-  }
 
   // Called once the command ends or is interrupted.
   @Override

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

@@ -29,7 +29,7 @@ public class DepartPince extends Command {
       pince.reset();
     }
     else{
-      pince.pivote(.2);
+      pince.pivote(-0.2);
     }
   }
 

src/main/java/frc/robot/commands/grimpeur/GrimperHaut.java

@@ -1,56 +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.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 GrimperHaut extends Command {
-  private Grimpeur grimpeur;
-  private Bougie bougie;
-  /** Creates a new Grimper. */
-  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
-    this.grimpeur = grimpeur;
-    this.bougie = bougie;
-    addRequirements(grimpeur,bougie);
-    // 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(grimpeur.stop()==true){
-      grimpeur.grimpe(0);
-      grimpeur.reset();
-      bougie.RainBow();
-    }
-    else{
-      grimpeur.grimpe(0.5);
-      bougie.RainBowStop();
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-   if(grimpeur.stop()){
-    bougie.RainBow();
-   }
-
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return grimpeur.stop()==true;
-  }
-}

src/main/java/frc/robot/commands/grimpeur/GrimpeurManuelhaut.java

@@ -1,59 +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.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 GrimpeurManuelhaut extends Command {
-  private Grimpeur grimpeur;
-
-  private Bougie bougie;
-  /** Creates a new GrimpeurManuel. */
-  public GrimpeurManuelhaut(Grimpeur grimpeur,Bougie bougie) {
-    this.grimpeur = grimpeur;
-    
-    this.bougie = bougie;
-    addRequirements(grimpeur, bougie);
-    // 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(grimpeur.stop()){
-      bougie.RainBow();
-      grimpeur.grimpe(-0.5);
-    }
-    
-    else{
-      bougie.RainBowStop();
-    grimpeur.grimpe(-0.5);  
-    }
-    
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
-    if(grimpeur.stop()){
-      bougie.RainBow();
-    }
-    else{bougie.RainBowStop();}
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/grimpeur/ResetGrimpeur.java

@@ -1,39 +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.grimpeur;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
-
-/* 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 ResetGrimpeur extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new ResetGrimpeur. */
-  public ResetGrimpeur(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
-    // 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() {
-    grimpeur.reset();
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -27,25 +27,28 @@ 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.amp()> 60){
-       requin.balaye(0);
+    double cibleMin = 550;
+    double cibleMax = 650;
+
+     if(requin.amp()>=78.2){
+       requin.xRequin = true;
+      }
+     if(requin.xRequin){
       bougie.Vert();
+      requin.balaye(0);
       }
-      else
-      {
-           requin.balaye(0.5);
+      if(!requin.xRequin){
+        if(requin.encodeur()<=cibleMax &&  requin.encodeur()>=cibleMin){
+          requin.rotationer(0);
+          requin.balaye(-0.4);
         }
-     }
-     else if(requin.encodeur()>=510){
-     requin.rotationer(0.5);
+        else if(requin.encodeur()>=cibleMax){
+          requin.rotationer(-0.1);
         }
         else{
-      requin.rotationer(-0.5);
+          requin.rotationer(0.3);
+        }
       }
-    
    }
 
   // Called once the command ends or is interrupted.
@@ -53,6 +56,7 @@ public class BalayeuseAlgue extends Command {
   public void end(boolean interrupted) {
     requin.rotationer(0);
     requin.balaye(0);
+    requin.xRequin = false;
   }
 
   // Returns true when the command should end.

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

@@ -24,7 +24,7 @@ public class BalayeuseBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  requin.rotationer(-0.5);
+  requin.rotationer(0.2);
   }
   // Called once the command ends or is interrupted.
   @Override

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

@@ -27,29 +27,27 @@ 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.amp()>60){
+    double cibleMax = 1100;
+    double cibleMin = 900;
+    if(requin.amp()>=78.2){
+        requin.xRequin = true;
+      }
+      if(requin.xRequin){
         requin.balaye(0);
         bougie.Vert();
-       if(requin.enHaut()){
+      }
+    if (!requin.xRequin) {
+     if(requin.encodeur()<=cibleMax &&  requin.encodeur()>=cibleMin){
        requin.rotationer(0);
+       requin.balaye(0.7);  
       } 
-        else{
-          requin.rotationer(0.5);
-        }
-    }
-     else{
-       requin.balaye(0.5);
-     }
-     }
-     else if(requin.encodeur()>=110){
-     requin.rotationer(0.5);
-     }
-     else{
+      else if(requin.encodeur()>=cibleMax){
       requin.rotationer(-0.5);
       }
-    
+      else{
+        requin.rotationer(0.5);
+      }
+      }
     }
 
   // Called once the command ends or is interrupted.
@@ -57,6 +55,7 @@ public class BalayeuseCoral extends Command {
   public void end(boolean interrupted) {
     requin.rotationer(0);
     requin.balaye(0);
+    requin.xRequin = false;
   }
 
   // Returns true when the command should end.

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

@@ -9,12 +9,11 @@ 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 {
+public class ExpireCorail extends Command {
   private Requin requin;
   private Bougie bougie;
   /** Creates a new ExpireAlgue. */
-  public ExpireAlgue(Requin requin, Bougie bougie
-  ) {
+  public ExpireCorail(Requin requin, Bougie bougie) {
     this.requin = requin;
     this.bougie = bougie;
     addRequirements(requin,bougie);
@@ -29,12 +28,12 @@ public class ExpireAlgue extends Command {
   @Override
   public void execute() {
     if(requin.amp()> 60){
-      requin.balaye(-0.5);
+      requin.balaye(-0.1);
     }
     else
     {
     bougie.Rouge();
-          requin.balaye(-0.5);
+    requin.balaye(-0.1);   
   }
 }
 

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

@@ -27,27 +27,15 @@ 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){
+    if(requin.encodeur()<=485 &&  requin.encodeur()>=385){
       requin.rotationer(0);
-      if(requin.amp()>60){
-      requin.balaye(-0.5);
     }
-        else{
-          requin.balaye(0); 
-          bougie.Rouge();
-      }
-    }
-    else if(requin.encodeur()>=810){
-    requin.rotationer(0.5);
-    }
-    else{
+    else if(requin.encodeur()>=485){
     requin.rotationer(-0.5);
     }
-    
-    
-      
-    
+    else{
+      requin.rotationer(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -29,13 +29,13 @@ 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(-0.5);
-    }
-     else
+   if(requin.amp()> 15)
    {
+    requin.balaye(0.2);
+   }
+   else{
     bougie.Rouge();
-          requin.balaye(-0.5);
+    requin.balaye(0.2);
    }
   }
 

src/main/java/frc/robot/commands/reset.java

@@ -7,19 +7,20 @@ package frc.robot.commands;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
-
-
+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 reset extends Command {
   /** Creates a new reset. */
   private Elevateur elevateur;
   private Pince pince;
-  public reset(Elevateur elevateur, Pince pince) {
+  private Requin requin;
+  public reset(Elevateur elevateur, Pince pince, Requin requin) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.elevateur = elevateur;
     this.pince = pince;
-    addRequirements(elevateur,pince);
+    this.requin = requin;
+    addRequirements(elevateur,pince, requin);
   }
 
   // Called when the command is initially scheduled.
@@ -31,6 +32,7 @@ public class reset extends Command {
   public void execute() {
     elevateur.reset();
     pince.reset();
+    requin.reset();
   }
 
   // Called once the command ends or is interrupted.

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, 64);
+  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;

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -1,9 +1,6 @@
 package frc.robot.subsystems;
 
-import static edu.wpi.first.units.Units.*;
-
 import java.util.function.Supplier;
-import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants;
@@ -44,38 +41,46 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
 
     /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
+    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();
 
-    private void configureAutoBuilder() {
-        try {
-            var config = RobotConfig.fromGUISettings();
-            AutoBuilder.configure(
-                () -> getState().Pose,   // Supplier of current robot pose
-                this::resetPose,         // Consumer for seeding pose against auto
-                () -> getState().Speeds, // Supplier of current robot speeds
-                // Consumer of ChassisSpeeds and feedforwards to drive the robot
-                (speeds, feedforwards) -> setControl(
-                    m_pathApplyRobotSpeeds.withSpeeds(speeds)
-                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
-                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
-                ),
-                new PPHolonomicDriveController(
-                    // PID constants for translation
-                    new PIDConstants(63.167, 0, 0.54521),
-                    // PID constants for rotation
-                    new PIDConstants(7.9735, 0, 0.038499)
-                ),
-                config,
-                // Assume the path needs to be flipped for Red vs Blue, this is normally the case
-                () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
-                this // Subsystem for requirements
-            );
-        } catch (Exception ex) {
-            DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
-        }
-         PPHolonomicDriveController.overrideRotationFeedback(()->{
-            return 0;
-         });  
-        }
+    // private void configureAutoBuilder() {
+    //     try {
+    //         var config = RobotConfig.fromGUISettings();
+    //         AutoBuilder.configure(
+                
+    //             () -> getState().Pose,   // Supplier of current robot pose
+    //             this::resetPose,         // Consumer for seeding pose against auto
+    //             () -> getState().Speeds, // Supplier of current robot speeds
+                
+    //             // Consumer of ChassisSpeeds and feedforwards to drive the robot
+    //             (speeds, feedforwards) -> setControl(
+    //                 m_pathApplyRobotSpeeds.withSpeeds(speeds)
+    //                     .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
+    //                     .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
+    //             ),
+    //             new PPHolonomicDriveController(
+    //                 // PID constants for translation
+    //                 new PIDConstants(63.167, 0, 0.54521),
+    //                 // // PID constants for rotation
+    //                 // new PIDConstants(7.9735, 0, 0.038499)
+    //                 // PID constants for rotation
+    //                 new PIDConstants(43.502,0,2.7353)
+    //             ),
+    //             config,
+    //             // Assume the path needs to be flipped for Red vs Blue, this is normally the case
+    //             () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+    //             this // Subsystem for requirements
+                
+    //         );
+    //     } catch (Exception ex) {
+    //         DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
+    //     }
+    //      PPHolonomicDriveController.overrideRotationFeedback(()->{
+    //         return 0;
+    //      });  
+    //     }
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -95,7 +100,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+        //configureAutoBuilder();
     }
 
     /**
@@ -120,7 +125,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+     //   configureAutoBuilder();
     }
 
     /**
@@ -153,7 +158,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+        //configureAutoBuilder();
     }
 
     

src/main/java/frc/robot/subsystems/Elevateur.java

@@ -18,17 +18,19 @@ public class Elevateur extends SubsystemBase {
     private GenericEntry encodeurelevateurL2haut =
     teb.add("encodeurelevateurL2haut", -0.9).getEntry();
     private GenericEntry encodeurelevateurL3bas =
-    teb.add("ncodeurelevateurL3bas", -2.9).getEntry();
+    teb.add("encodeurelevateurL3bas", -3).getEntry();
     private GenericEntry encodeurelevateurL3haut =
-    teb.add("encodeurelevateurL3haut", -3).getEntry();
+    teb.add("encodeurelevateurL3haut", -3.1).getEntry();
     private GenericEntry encodeurelevateurL4bas =
-    teb.add("encodeurelevateurL4bas", -6.4).getEntry();
+    teb.add("encodeurelevateurL4bas", -6.3).getEntry();
     private GenericEntry encodeurelevateurL4haut =
     teb.add("encodeurelevateurL4haut", -6.5).getEntry();
     private GenericEntry encodeurelevateurstationbas =
     teb.add("encodeurelevateursationbas", -0.5).getEntry();
     private GenericEntry encodeurelevateurstationhaut =
     teb.add("encodeurelevateursationhaut", -0.4).getEntry();
+    private GenericEntry distanceDeploiePince =
+    teb.add("encodeurDeploiePince", 0.2).getEntry();
        
   public Elevateur() {
     teb.addDouble("encodeur elevateur",this::position);
@@ -67,13 +69,13 @@ public class Elevateur extends SubsystemBase {
     return encodeurelevateurL2haut.getDouble(-0.9);
   }
   public double encodeurelevateurL3bas(){
-    return encodeurelevateurL3bas.getDouble(-2.9);
+    return encodeurelevateurL3bas.getDouble(-2.8);
   }
   public double encodeurelevateurL3haut(){
     return encodeurelevateurL3haut.getDouble(-3);
   }
   public double encodeurelevateurL4bas(){
-    return encodeurelevateurL4bas.getDouble(-6.4);
+    return encodeurelevateurL4bas.getDouble(-6.3);
   }
   public double encodeurelevateurL4haut(){
     return encodeurelevateurL4haut.getDouble(-6.5);
@@ -84,6 +86,10 @@ public class Elevateur extends SubsystemBase {
   public double encodeurelevateurstationhaut(){
     return encodeurelevateurstationhaut.getDouble(-0.4);
   }
+  public double distanceDeploiePince(){
+    return distanceDeploiePince.getDouble(0.2);
+  }
+  
   
   @Override
   public void periodic() {

src/main/java/frc/robot/subsystems/Grimpeur.java

@@ -1,40 +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 com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-
-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;
-
-public class Grimpeur extends SubsystemBase {
-  /** Creates a new Grimpeur. */
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  public Grimpeur() {
-    teb.addBoolean("limit grimpeur", this::stop);
-    teb.addDouble("encodeur grimpeur", this::encodeur);
-  }
-  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
-  final DigitalInput limit1 = new DigitalInput(2);
-  public void grimpe(double vitesse){
-    grimpeur.set(vitesse);
-  }
-  public boolean stop(){
-   return limit1.get();
-  }
-  public double encodeur(){
-  return grimpeur.getEncoder().getPosition();
-  }
-  public void reset(){
-     grimpeur.getEncoder().setPosition(0);
-    }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

src/main/java/frc/robot/subsystems/Pince.java

@@ -17,6 +17,8 @@ public class Pince extends SubsystemBase {
   public Pince() {
     teb.addBoolean("limit pince",this::position);
     teb.addDouble("encodeur pince", this::encodeurpivot);
+    teb.addDouble("amperage corail", this::emperagecoral);
+    teb.addDouble("amperage algue", this::emperagealgue);
   }
   final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
   final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
@@ -30,7 +32,7 @@ public void aspirecoral(double vitesse){
 }
 public void pivote(double vitesse){
   if (position()) {
-    if (vitesse > 0) {
+    if (vitesse < 0) {
       pivoti.set(0);
     }
     else{
@@ -60,6 +62,7 @@ public double emperagecoral(){
 public double emperagealgue(){
   return algue1.getOutputCurrent();
 }
+public boolean x = false;
 
   @Override
   public void periodic() {

src/main/java/frc/robot/subsystems/Requin.java

@@ -17,6 +17,8 @@ public class Requin extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   public Requin() {
     teb.addBoolean("limit requin", this::enHaut);
+    teb.addDouble("amparge requin", this::amp);
+    teb.addDouble("encodeur requin", this::encodeur);
   }
    
   final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
@@ -41,6 +43,7 @@ public class Requin extends SubsystemBase {
   public double amp(){
     return balaye.getOutputCurrent();
   }
+  public boolean xRequin = false;
   @Override
   public void periodic() {
     // This method will be called once per scheduler run