mode auto

.OutlineViewer/outlineviewer.json

@@ -0,0 +1,5 @@
+{
+  "Transitory Values": {
+    "open": false
+  }
+}

.SysId/sysid.json

@@ -0,0 +1 @@
+{}

simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [

src/main/deploy/pathplanner/autos/BlueBas3 sans composantes.auto

@@ -0,0 +1,126 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BlueBasStart"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AprilTag"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BlueBasChercher"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AprilTag"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "AprilTag"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BlueBasPorter"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BlueBasChercher2"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": []
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AprilTag"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BlueBasPorter2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AprilTag"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "New Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 3.0
+          }
+        },
         {
           "type": "path",
           "data": {

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/BlueBasStart.path

@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.400623816881145,
-        "y": 1.8077934662846444
+        "x": 6.40062663880838,
+        "y": 1.8077964923366423
       },
       "isLocked": false,
       "linkedName": null
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 1.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 119.99999999999999
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

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

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.564241803278687,
+        "y": 3.899129098360655
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.506996649367605,
+        "y": 3.898163120386143
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.269569672131147,
+        "y": 3.899129098360655
+      },
+      "prevControl": {
+        "x": 7.259410179761819,
+        "y": 3.9002985318003183
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 0.1,
+    "maxAngularAcceleration": 0.1,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/Sortir.path

@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.084733606557376,
-        "y": 6.488473360655737
+        "x": 7.119564732833961,
+        "y": 6.478684258786044
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.849999999999999,
+        "x": 5.815652951699465,
         "y": 6.464497950819672
       },
       "prevControl": {
-        "x": 6.32950819672131,
-        "y": 6.464497950819672
+        "x": 6.633711863494241,
+        "y": 6.455611583097
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 50.0,
+    "maxAngularAcceleration": 100.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 180.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/settings.json

@@ -9,12 +9,12 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 74.088,
+  "robotMass": 45.3592,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.048,
   "driveGearing": 5.143,
-  "maxDriveSpeed": 5.45,
+  "maxDriveSpeed": 5.261,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 60.0,
   "wheelCOF": 1.2,

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

@@ -6,88 +6,185 @@ 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.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt;
+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 edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.math.geometry.Pose2d;
+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;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
-
 import frc.robot.TunerConstants.TunerConstants;
 import frc.robot.commands.RainBow;
+import frc.robot.commands.reset;
+import frc.robot.commands.Elevateur.Depart;
+import frc.robot.commands.Elevateur.ElevateurManuel;
+import frc.robot.commands.Elevateur.L2;
+import frc.robot.commands.Elevateur.L3;
+import frc.robot.commands.Elevateur.L4;
+import frc.robot.commands.Elevateur.StationPince;
+import frc.robot.commands.Limelight.AprilTag3;
+import frc.robot.commands.Limelight.AprilTag3G;
+import frc.robot.commands.Limelight.Forme3;
+import frc.robot.commands.Pince.AlgueExpire;
+import frc.robot.commands.Pince.Algue_inspire;
+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.BalayeuseAlgue;
+import frc.robot.commands.requin.BalayeuseCoral;
+import frc.robot.commands.requin.BalayeuseHaut;
+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.Grimpeur;
-
+import frc.robot.subsystems.Elevateur;
+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",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry sortirAngle = layoutauto.add("Cote?",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry Reculer = layoutauto.add("Reculer",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  GenericEntry L4 = layoutauto.add("L4",true).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
 
   /* Setting up bindings for necessary control of the swerve drive platform */
-    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+  private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
     .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
-            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
+    .withDriveRequestType(DriveRequestType.OpenLoopVoltage
+    ); // Use open-loop control for drive motors
 
   private final Telemetry logger = new Telemetry(MaxSpeed);
-
   private final CommandXboxController manette1 = new CommandXboxController(0);
-    private final CommandXboxController manette2 = new CommandXboxController(0);
-
+  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
+  }
 
-    private final SendableChooser<Command> autoChooser;
+  Elevateur elevateur = new Elevateur();
+  Pince pince = new Pince();
+  ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
+  PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
   Bougie bougie = new Bougie();
-    
-    
+  Limelight3G limelight3g = new Limelight3G();
+  Limelight3 limelight3 = new Limelight3();
+  Pose2d pose = new Pose2d();
+  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();
   }
 
   private void configureBindings() {
-        // Note that X is defined as forward according to WPILib convention,
-        // and Y is defined as to the left according to WPILib convention.
+    drivetrain.registerTelemetry(logger::telemeterize);
     drivetrain.setDefaultCommand(
       // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
-                drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY(), 0.5)) // Drive forward with negative Y (forward)
-                    .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX(), 0.5)) // Drive left with negative X (left)
-                    .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.5)) // 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 */
+    //pince
+    manette1.rightTrigger().whileTrue(new CoralAlgueInspire(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().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));
 
-        // reset the field-centric heading on left bumper press
-        manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
 
-        drivetrain.registerTelemetry(logger::telemeterize);
+            /* Manette 2 */
+    //requin
+    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())/3, 0.05));
+    }, pince));
+
+    //Elevateur manuel
+    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));
   }
     
-   
     public Command getAutonomousCommand() {
-            return 
-             new 
-            ParallelCommandGroup(
-              autoChooser
-                     .getSelected(),
-            new 
-            RainBow
-            (
-                bougie
-                )
-            );
+      return new SequentialCommandGroup(
+        drivetrain.applyRequest(()->
+        drive.withVelocityX(-0.1*MaxSpeed)
+       .withVelocityY(0)
+       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(2),
+      drivetrain.applyRequest(()->
+      drive.withVelocityX(0.5*MaxSpeed)
+     .withVelocityY(0)
+     .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2),
+     drivetrain.applyRequest(()->
+     drive.withVelocityX(-0.5*MaxSpeed)
+    .withVelocityY(0)
+    .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(2),
+       drivetrain.applyRequest(()->
+        drive.withVelocityX(0)
+       .withVelocityY(0)
+       .withRotationalRate(0)).withTimeout(0.1),
+        new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
+        drivetrain.applyRequest(()->
+        drive.withVelocityX(0.2*MaxSpeed)
+       .withVelocityY(0)
+       .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.5),
+       drivetrain.applyRequest(()->
+       drive.withVelocityX(0*MaxSpeed)
+      .withVelocityY(0)
+      .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2),
+        new CoralExpire(pince, bougie).unless(()->!L4.getBoolean(true)).withTimeout(2),
+        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

@@ -23,15 +23,19 @@ public class TunerConstants {
 
     // The steer motor uses any SwerveModule.SteerRequestType control request with the
     // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
+    //private static final Slot0Configs steerGains = new Slot0Configs()
+     //   .withKP(68.294).withKI(0).withKD(4.7806)
+     //   .withKS(0.20754).withKV(2.4832).withKA(0.099824)
+      //  .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
         private static final Slot0Configs steerGains = new Slot0Configs()
-        .withKP(100).withKI(0).withKD(0.5)
-        .withKS(0.1).withKV(2.66).withKA(0)
+        .withKP(43.502).withKI(0).withKD(2.7353)
+        .withKS(0.027275).withKV(2.5818).withKA(0.1055)
         .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
     // When using closed-loop control, the drive motor uses the control
     // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
     private static final Slot0Configs driveGains = new Slot0Configs()
-        .withKP(0.1).withKI(0).withKD(0)
-        .withKS(0).withKV(0.124);
+        .withKP(63.167).withKI(0).withKD(0.54521)
+        .withKS(0.18227).withKV(0.12483);
 
     // The closed-loop output type to use for the steer motors;
     // This affects the PID/FF gains for the steer motors

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

@@ -0,0 +1,58 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+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;
+    this.pince = pince;
+    addRequirements(elevateur, 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() {
+    if(pince.position()){
+      pince.pivote(0);
+      pince.reset();
+    }
+    else{
+      pince.pivote(-0.2);
+    }
+    if(elevateur.limit2()==true){
+      elevateur.vitesse(0);
+      elevateur.reset();
+    }
+    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.
+  @Override
+  public boolean isFinished() {
+    return elevateur.limit2() == true;
+  }
+}

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

@@ -0,0 +1,49 @@
+// 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.Elevateur;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+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 ElevateurManuel extends Command {
+  private DoubleSupplier doubleSupplier;
+  private Elevateur elevateur;
+  /** Creates a new ElevateurManuel. */
+  public ElevateurManuel(Elevateur elevateur,DoubleSupplier doubleSupplier) {
+    this.doubleSupplier = doubleSupplier;
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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 (elevateur.limit2()){
+
+     
+    }
+    elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,53 @@
+// 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.Elevateur;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+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 L2 extends Command {
+  private Elevateur elevateur;
+  private Pince pince;
+  /** Creates a new L2. */
+  public L2(Elevateur elevateur,Pince pince) {
+    this.elevateur = elevateur;
+    this.pince = pince;
+    addRequirements(elevateur,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() {
+     if(pince.encodeurpivot()>=14 && pince.encodeurpivot()<=15){
+       pince.pivote(0);
+     }
+     else if(pince.encodeurpivot()>=14){
+       pince.pivote(-0.2);
+     }
+     else{
+       pince.pivote(0.1);
+     }
+
+  }
+
+  // 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.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,64 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.subsystems.Elevateur;
+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 L3 extends Command {
+  private Elevateur elevateur;
+  private Pince pince;
+  /** Creates a new L2. */
+  public L3(Elevateur elevateur,Pince pince) {
+    this.elevateur = elevateur;
+    this.pince = pince;  
+    addRequirements(elevateur,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() {
+  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.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,63 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+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 L4 extends Command {
+  private Elevateur elevateur;
+  private Pince pince;
+  /** Creates a new L2. */
+  public L4(Elevateur elevateur,Pince pince) {
+    this.elevateur = elevateur;
+    this.pince = pince;
+    addRequirements(elevateur,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() {
+    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.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,90 @@
+// 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.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;
+
+/* 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 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, Bougie bougie) {
+    this.elevateur = elevateur;
+    this.pince = pince;
+    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() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+    if(pince.emperagecoral() >= 18){     
+      pince.x = true;
+    }
+    if(elevateur.position()<=-0.1 && elevateur.position()>= -0.2){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=-0.1){
+      elevateur.vitesse(-0.7);
+      }
+      else{
+        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);
+      }
+    }    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+    pince.aspirecoral(0);
+    elevateur.vitesse(0);
+    pince.x =false;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,49 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+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 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.
+  }
+
+  // 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(elevateur.position()<=-2 && elevateur.position()>=-2.2){
+      elevateur.vitesse(0);
+    }
+    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) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,49 @@
+// 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.Elevateur;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+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 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.
+  }
+
+  // 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(elevateur.position()<=-4 && elevateur.position()>=-4.1){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>= -4){
+      elevateur.vitesse(-0.7);
+    }
+    else{
+      elevateur.vitesse(0.25);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Limelight/AprilTag3.java

@@ -0,0 +1,81 @@
+// 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.Limelight;
+import static edu.wpi.first.units.Units.*;
+
+import java.util.function.DoubleSupplier;
+
+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;
+import frc.robot.subsystems.Limelight3;
+
+/* 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 AprilTag3 extends Command {
+  private Limelight3 limelight3;
+  private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
+  private DoubleSupplier x;
+  private DoubleSupplier y;
+    /* Setting up bindings for necessary control of the swerve drive platform */
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
+  /** Creates a new AprilTag3G. */
+  public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
+    this.limelight3 = limelight3;
+    this.drivetrain = drivetrain;
+    this.x = x;
+    this.y = y;
+    addRequirements(limelight3,drivetrain);
+    
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    limelight3.Apriltag();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double a = limelight3.getX();
+   
+    if(limelight3.getV() == true){
+      drivetrain.setControl(drive.
+      withRotationalRate(a/10).
+      withVelocityX(x.getAsDouble()).
+      withVelocityY(y.getAsDouble()));  
+       System.out.println(a/10);
+    }
+    else{
+      drivetrain.setControl(drive.
+      withRotationalRate(0).
+      withVelocityX(0).
+      withVelocityY(0));
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.
+    withRotationalRate(0)
+    .withVelocityX(0)
+    .withVelocityY(0));
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,78 @@
+// 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.Limelight;
+import static edu.wpi.first.units.Units.*;
+
+import java.util.function.DoubleSupplier;
+
+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;
+import frc.robot.subsystems.Limelight3G;
+
+/* 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 AprilTag3G extends Command {
+  private Limelight3G limelight3g;
+  private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
+  private DoubleSupplier x;
+  private DoubleSupplier y;
+    /* Setting up bindings for necessary control of the swerve drive platform */
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
+  /** Creates a new AprilTag3G. */
+  /** Creates a new AprilTag3G. */
+  public AprilTag3G(Limelight3G limelight3g,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
+    this.limelight3g = limelight3g;
+    this.drivetrain = drivetrain;
+    this.x = x;
+    this.y = y;
+    addRequirements(limelight3g,drivetrain);
+    // 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() {
+    double a = limelight3g.getX();
+    if(limelight3g.getV() == true){
+      drivetrain.setControl(drive.
+      withRotationalRate(-a/7).
+      withVelocityY(x.getAsDouble()).
+      withVelocityX(-y.getAsDouble()));  
+       System.out.println(a/7);
+    }
+    else{
+      drivetrain.setControl(drive.
+      withRotationalRate(0).
+      withVelocityX(0).
+      withVelocityY(0));
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.
+      withRotationalRate(0).
+      withVelocityX(0).
+      withVelocityY(0));
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Limelight/Forme3.java

@@ -0,0 +1,79 @@
+// 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.Limelight;
+import static edu.wpi.first.units.Units.*;
+
+import java.util.function.DoubleSupplier;
+
+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;
+import frc.robot.subsystems.Limelight3;
+
+/* 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 Forme3 extends Command {
+  private Limelight3 limelight3;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
+  private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+  private DoubleSupplier x;
+  private DoubleSupplier y;
+    /* Setting up bindings for necessary control of the swerve drive platform */
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
+  /** Creates a new Forme3. */
+  public Forme3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
+    this.limelight3 = limelight3;
+    this.drivetrain = drivetrain;
+    this.x = x;
+    this.y = y;
+    addRequirements(limelight3,drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    limelight3.Forme();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double a = limelight3.getX();
+    if(limelight3.getV() == true){
+      drivetrain.setControl(drive.
+      withRotationalRate(a/10).
+      withVelocityX(x.getAsDouble()).
+      withVelocityY(y.getAsDouble()));  
+       System.out.println(a/10);
+    }
+    else{
+      drivetrain.setControl(drive.
+      withRotationalRate(0).
+      withVelocityX(0).
+      withVelocityY(0));
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.
+      withRotationalRate(0).
+      withVelocityX(0).
+      withVelocityY(0));
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,51 @@
+// 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.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 AlgueExpire extends Command {
+  private Pince pince;
+  private Bougie bougie;
+  /** Creates a new CoralAlgue. */
+  public AlgueExpire(Pince pince,Bougie bougie) {
+    this.pince = pince;
+    this.bougie = bougie;
+    addRequirements(pince,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(pince.emperagealgue()>60){
+      pince.aspirealgue(-0.5);
+    }
+    else{
+      pince.aspirealgue(-0.5);
+      bougie.Jaune();
+    }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirealgue(0); 
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Pince/Algue_inspire.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.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, Bougie bougie) {
+    this.pince = pince;
+    this.bougie = bougie;
+    addRequirements(pince, 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.
+
+  //ajouter l'amperage pour arreter les moteurs
+  @Override
+  public void execute() {
+    
+    if(pince.emperagealgue()>60){
+      pince.aspirealgue(0);
+      bougie.Bleu();
+    }
+    else{
+      pince.aspirealgue(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirealgue(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,51 @@
+// 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.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, Bougie bougie) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.pince = pince;
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
+  }
+
+  // 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(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) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return pince.emperagecoral()>13;
+  }
+}

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

@@ -0,0 +1,53 @@
+// 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.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 CoralAlgueInspire extends Command {
+  private Pince pince;
+  private Bougie bougie;
+  /** Creates a new CoralAlgue. */
+  public CoralAlgueInspire(Pince pince, Bougie bougie) {
+    this.pince = pince;
+    this.bougie = bougie;
+    addRequirements(pince,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() {
+    pince.aspirecoral(-.5);
+    if(pince.emperagealgue()>60){
+      pince.aspirealgue(0);
+      bougie.Bleu();
+      } 
+     else{
+      pince.aspirealgue(0.5);
+      bougie.Jaune();
+      }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+    pince.aspirealgue(0); 
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,49 @@
+// 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;
+import frc.robot.subsystems.Bougie;
+/* 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 CoralExpire extends Command {
+  private Pince pince;
+  Bougie bougie;
+  /** Creates a new CoralAlgue. */
+  public CoralExpire(Pince pince, Bougie bougie) {
+    this.pince = pince;
+    this.bougie = bougie;
+    addRequirements(pince,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() {
+    /*  je crois que ce nest pas necessaire
+    if(pince.emperagecoral() > 60){
+     pince.aspirecoral(0);
+   }
+    */
+    pince.aspirecoral(-.5);
+    bougie.Jaune();
+  }
+
+  // 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/DepartPince.java

@@ -0,0 +1,47 @@
+// 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 DepartPince extends Command {
+  private Pince pince;
+  /** Creates a new DepartPince. */
+  public DepartPince(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() {
+    if(pince.position()==true){
+      pince.pivote(0);
+      pince.reset();
+    }
+    else{
+      pince.pivote(-0.2);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,50 @@
+// 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 java.util.function.DoubleSupplier;
+
+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 PinceManuel extends Command {
+  private Pince pince;
+  private DoubleSupplier x;
+  /** Creates a new PinceManuel. */
+  public PinceManuel(Pince pince, DoubleSupplier x) {
+    this.pince = pince;
+    this.x = x;
+    //this.doubleSupplier = doubleSupplier;
+    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() {
+     if(pince.position()){
+       pince.pivote(0);
+     }
+     else{
+      pince.pivote(x.getAsDouble()/3.5);
+     }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -9,8 +9,8 @@ import frc.robot.subsystems.Bougie;
 
 /* 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 RainBow extends Command {
-  Bougie bougie;
   /** Creates a new RainBow. */
+  private Bougie bougie;
   public RainBow(Bougie bougie) {
     this.bougie = bougie;
     addRequirements(bougie);

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

@@ -0,0 +1,67 @@
+// 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.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 BalayeuseAlgue extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseAlgue(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie =bougie;
+    addRequirements(requin,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() {
+    double cibleMin = 700;
+    double cibleMax = 900;
+
+     if(requin.amp()>=78.2){
+       requin.xRequin = true;
+      }
+     if(requin.xRequin){
+      bougie.Vert();
+      requin.balaye(0);
+      }
+      if(!requin.xRequin){
+        if(requin.encodeur()<=cibleMax &&  requin.encodeur()>=cibleMin){
+          requin.rotationer(0);
+          requin.balaye(-0.4);
+        }
+        else if(requin.encodeur()>=cibleMax){
+          requin.rotationer(-0.1);
+        }
+        else{
+          requin.rotationer(0.3);
+        }
+      }
+   }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+    requin.xRequin = false;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,40 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+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 BalayeuseBas extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseBas(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // 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() {
+  requin.rotationer(0.2);
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,66 @@
+// 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.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 BalayeuseCoral extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseCoral(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,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() {
+    double cibleMax = 1100;
+    double cibleMin = 900;
+    if(requin.amp()>=78.2){
+        requin.xRequin = true;
+      }
+      if(requin.xRequin){
+        requin.balaye(0);
+        bougie.Vert();
+      }
+    if (!requin.xRequin) {
+     if(requin.encodeur()<=cibleMax &&  requin.encodeur()>=cibleMin){
+       requin.rotationer(0);
+       requin.balaye(0.7);  
+      } 
+      else if(requin.encodeur()>=cibleMax){
+      requin.rotationer(-0.5);
+      }
+      else{
+        requin.rotationer(0.5);
+      }
+      }
+    }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+    requin.xRequin = false;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,47 @@
+// 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.requin;
+
+import edu.wpi.first.wpilibj2.command.Command;
+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 BalayeuseHaut extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseHaut(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // 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(requin.enHaut()==true){
+      requin.rotationer(0);
+      requin.reset();
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,51 @@
+// 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.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 ExpireCorail extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new ExpireAlgue. */
+  public ExpireCorail(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,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(requin.amp()> 60){
+      requin.balaye(-0.4);
+    }
+    else
+    {
+    bougie.Rouge();
+    requin.balaye(-0.4);   
+  }
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,53 @@
+// 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.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 L1Requin extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public L1Requin(Requin requin,Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,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(requin.encodeur()<=530 &&  requin.encodeur()>=430){
+      requin.rotationer(0);
+    }
+    else if(requin.encodeur()>=530){
+    requin.rotationer(-0.5);
+    }
+    else{
+      requin.rotationer(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,53 @@
+// 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.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,Bougie bougie) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    this.bougie
+    =bougie;
+    addRequirements(requin,bougie);
+  }
+
+  // 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(requin.amp()> 15)
+   {
+    requin.balaye(0.4);
+   }
+   else{
+    bougie.Rouge();
+    requin.balaye(0.4);
+   }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,49 @@
+// 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.requin;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+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 requin_manuel extends Command {
+  /** Creates a new requin_manuel. */
+  private Requin requin;
+  private DoubleSupplier x;
+  public requin_manuel(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // 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(requin.enHaut()){
+    requin.rotationer(0);  
+    }
+    else{
+      requin.rotationer(x.getAsDouble());
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,47 @@
+// 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 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;
+  private Requin requin;
+  public reset(Elevateur elevateur, Pince pince, Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.elevateur = elevateur;
+    this.pince = pince;
+    this.requin = requin;
+    addRequirements(elevateur,pince, requin);
+  }
+
+  // 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() {
+    elevateur.reset();
+    pince.reset();
+    requin.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/subsystems/Bougie.java

@@ -11,28 +11,60 @@ import com.ctre.phoenix.led.RainbowAnimation;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Bougie extends SubsystemBase {
-  CANdle candle = new CANdle(5);
+  CANdle candle = new CANdle(23);
   CANdleConfiguration config = new CANdleConfiguration();
-  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
+  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 68);
   /** Creates a new Bougie. */
   public Bougie() {
     config.brightnessScalar = 0.5;
     candle.configAllSettings(config);
   }
   public void Rouge() {
-   candle.setLEDs(255, 0, 0);
+   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);
   }
   public void Vert() {
-   candle.setLEDs(0, 255, 0);
+   candle.setLEDs(0, 255, 0,0,8,8);
+   candle.setLEDs(0, 255, 0,0,24,8);
+   candle.setLEDs(0, 255, 0,0,40,8);
+   candle.setLEDs(0, 255, 0,0,56,8);
+   candle.setLEDs(0, 255, 0,0,72,8);
+   candle.setLEDs(0, 255, 0,0,88,8);
+   candle.setLEDs(0, 255, 0,0,104,8);
+   candle.setLEDs(0, 255, 0,0,120,8);
   }
   public void Bleu() {
-   candle.setLEDs(0, 0, 255);
+    candle.setLEDs(0, 0, 255,0,16,8);
+    candle.setLEDs(0, 0, 255,0,32,8);
+    candle.setLEDs(0, 0, 255,0,48,8);
+    candle.setLEDs(0, 0, 255,0,64,8);
+    candle.setLEDs(0, 0, 255,0,80,8);
+    candle.setLEDs(0, 0, 255,0,96,8);
+    candle.setLEDs(0, 0, 255,0,112,8);
+  }
+   public void Jaune() {
+   candle.setLEDs(255, 215, 0,0,16,8);
+   candle.setLEDs(255, 215, 0,0,32,8);
+   candle.setLEDs(255, 215, 0,0,48,8);
+   candle.setLEDs(255, 215, 0,0,64,8);
+   candle.setLEDs(255, 215, 0,0,80,8);
+   candle.setLEDs(255, 215, 0,0,96,8);
+   candle.setLEDs(255, 215, 0,0,112,8);
+   }
+  public void RainBow(){
+    candle.animate(rainbowAnim);
+  }
+  public void RainBowStop(){
+    candle.animate(null);
   }
-  public void RainBow(){candle.animate(rainbowAnim);}
-  public void RainBowStop(){candle.animate(null);}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
 }
-

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

@@ -1,20 +1,14 @@
 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;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
-
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.numbers.N1;
@@ -25,12 +19,11 @@ import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
 
 /**
  * Class that extends the Phoenix 6 SwerveDrivetrain class and implements
- * Subsystem so it can easily be used in command-based projects.
+ * Subsystem so it can easily be used in command-based projeScts.
  */
 public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
     
@@ -47,102 +40,48 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
 
     private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
 
-    /* Swerve requests to apply during SysId characterization */
+    /* 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();
 
-    /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
-    private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            null,        // Use default ramp rate (1 V/s)
-            Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
-            null,        // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            output -> setControl(m_translationCharacterization.withVolts(output)),
-            null,
-            this
-        )
-    );
-
-    /* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
-    private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            null,        // Use default ramp rate (1 V/s)
-            Volts.of(7), // Use dynamic voltage of 7 V
-            null,        // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            volts -> setControl(m_steerCharacterization.withVolts(volts)),
-            null,
-            this
-        )
-    );
-
-    /*
-     * SysId routine for characterizing rotation.
-     * This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
-     * See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
-     */
-    private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            /* This is in radians per second², but SysId only supports "volts per second" */
-            Volts.of(Math.PI / 6).per(Second),
-            /* This is in radians per second, but SysId only supports "volts" */
-            Volts.of(Math.PI),
-            null, // Use default timeout (10 s)
-            // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
-        ),
-        new SysIdRoutine.Mechanism(
-            output -> {
-                /* output is actually radians per second, but SysId only supports "volts" */
-                setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
-                /* also log the requested output for SysId */
-                SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
-            },
-            null,
-            this
-        )
-    );
-    
     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())
+                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
+                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
                 ),
                 new PPHolonomicDriveController(
                     // PID constants for translation
-                    new PIDConstants(10, 0, 0),
+                    new PIDConstants(63.167, 0, 0.54521),
+                    // // PID constants for rotation
+                    // new PIDConstants(7.9735, 0, 0.038499)
                     // PID constants for rotation
-                    new PIDConstants(7, 0, 0)
+                    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;
+         });  
         }
 
-    /* The SysId routine to test */
-    private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;
-
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
      * <p>
@@ -234,28 +173,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         return run(() -> this.setControl(requestSupplier.get()));
     }
     
-    /**
-     * Runs the SysId Quasistatic test in the given direction for the routine
-     * specified by {@link #m_sysIdRoutineToApply}.
-     *
-     * @param direction Direction of the SysId Quasistatic test
-     * @return Command to run
-     */
-    public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
-        return m_sysIdRoutineToApply.quasistatic(direction);
-    }
-
-    /**
-     * Runs the SysId Dynamic test in the given direction for the routine
-     * specified by {@link #m_sysIdRoutineToApply}.
-     *
-     * @param direction Direction of the SysId Dynamic test
-     * @return Command to run
-     */
-    public Command sysIdDynamic(SysIdRoutine.Direction direction) {
-        return m_sysIdRoutineToApply.dynamic(direction);
-    }
-
     @Override
     public void periodic() {
         /*

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

@@ -0,0 +1,98 @@
+// 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 edu.wpi.first.networktables.GenericEntry;
+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 com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+public class Elevateur extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  /** Creates a new Elevateur. */
+    private GenericEntry encodeurelevateurL2bas =
+    teb.add("encodeurelevateurL2bas", -1).getEntry();
+    private GenericEntry encodeurelevateurL2haut =
+    teb.add("encodeurelevateurL2haut", -0.9).getEntry();
+    private GenericEntry encodeurelevateurL3bas =
+    teb.add("encodeurelevateurL3bas", -3).getEntry();
+    private GenericEntry encodeurelevateurL3haut =
+    teb.add("encodeurelevateurL3haut", -3.1).getEntry();
+    private GenericEntry encodeurelevateurL4bas =
+    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);
+    teb.addBoolean("limit elevateur", this::limit2);
+  }
+  final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
+  final DigitalInput limit2 = new DigitalInput(0);
+  
+  public double position(){ 
+    return monte.getEncoder().getPosition();
+  }
+
+  public void vitesse(double vitesse){
+    if (limit2()) {
+      if (vitesse > 0) {
+        monte.set(0);
+      }
+      else{
+        monte.set(vitesse);
+      }
+    }
+    else{
+      monte.set(vitesse);
+    }
+  }
+  public boolean limit2(){
+    return limit2.get();
+  } 
+  public void reset(){
+    monte.getEncoder().setPosition(0);
+  }
+  public double encodeurelevateurL2bas(){
+    return encodeurelevateurL2bas.getDouble(-1);
+  }
+  public double encodeurelevateurL2haut(){
+    return encodeurelevateurL2haut.getDouble(-0.9);
+  }
+  public double encodeurelevateurL3bas(){
+    return encodeurelevateurL3bas.getDouble(-2.8);
+  }
+  public double encodeurelevateurL3haut(){
+    return encodeurelevateurL3haut.getDouble(-3);
+  }
+  public double encodeurelevateurL4bas(){
+    return encodeurelevateurL4bas.getDouble(-6.3);
+  }
+  public double encodeurelevateurL4haut(){
+    return encodeurelevateurL4haut.getDouble(-6.5);
+  }
+  public double encodeurelevateurstationbas(){
+    return encodeurelevateurstationbas.getDouble(-0.5);
+  }
+  public double encodeurelevateurstationhaut(){
+    return encodeurelevateurstationhaut.getDouble(-0.4);
+  }
+  public double distanceDeploiePince(){
+    return distanceDeploiePince.getDouble(0.2);
+  }
+  
+  
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -1,26 +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 edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Grimpeur extends SubsystemBase {
-  /** Creates a new Grimpeur. */
-  public Grimpeur() {}
-  final Spark grimpeur = new Spark(0);
-  final DigitalInput limit1 = new DigitalInput(0);
-  public void grimpe(double vitesse){
-    grimpeur.set(vitesse);
-  }
-  final void stop(){
-    limit1.get();
-  }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

src/main/java/frc/robot/subsystems/Limelight3.java

@@ -0,0 +1,39 @@
+// 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 edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.LimelightHelpers;
+
+public class Limelight3 extends SubsystemBase {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  /** Creates a new Limelight3. */
+  public Limelight3() {
+    for(int port = 5800; port <=5807; port++){
+      PortForwarder.add(port, "limelight.local", port);
+    }
+  }
+  public double getX(){
+    return LimelightHelpers.getTX("limelight-balon");
+  }
+  public boolean getV(){
+    return LimelightHelpers.getTV("limelight-balon");
+  }
+  public void Apriltag(){
+    pipeline.setNumber(1);
+  }
+  public void Forme(){
+    pipeline.setNumber(0);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc/robot/subsystems/Limelight3G.java

@@ -0,0 +1,28 @@
+// 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 edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.LimelightHelpers;
+
+public class Limelight3G extends SubsystemBase {
+  /** Creates a new Limelight3. */
+  public Limelight3G() {
+    for(int port = 5800; port <=5807; port++){
+      PortForwarder.add(port, "limelight.local", port);
+    }
+  }
+  public double getX(){
+    return LimelightHelpers.getTX("limelight-tag");
+  }
+  public boolean getV(){
+    return LimelightHelpers.getTV("limelight-tag");
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,71 @@
+// 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.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+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 Pince extends SubsystemBase {
+  /** Creates a new Pince. */
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  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);
+  final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
+  final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
+  final DigitalInput limit6 = new DigitalInput(9);
+  
+ 
+public void aspirecoral(double vitesse){
+  coral.set(vitesse);
+}
+public void pivote(double vitesse){
+  if (position()) {
+    if (vitesse < 0) {
+      pivoti.set(0);
+    }
+    else{
+      pivoti.set(vitesse);
+    }
+  }
+  else{
+    pivoti.set(vitesse);
+  }
+}
+public void aspirealgue(double vitesse){
+  algue2.set(-vitesse);
+  algue1.set(-vitesse);
+}
+public double encodeurpivot(){
+  return pivoti.getEncoder().getPosition();
+}
+public boolean position(){
+ return limit6.get();
+}
+public void reset(){
+  pivoti.getEncoder().setPosition(0);
+}
+public double emperagecoral(){
+  return coral.getOutputCurrent();
+}
+public double emperagealgue(){
+  return algue1.getOutputCurrent();
+}
+public boolean x = false;
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,51 @@
+// 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.SparkFlex;
+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 Requin extends SubsystemBase {
+  /** Creates a new Requin. */
+  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);
+  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
+  final DigitalInput limit3 = new DigitalInput(1);
+    
+  public void balaye(double vitesse){
+    balaye.set(vitesse);
+  }
+  public void rotationer(double vitesse){
+  rotatione.set(vitesse);
+  }
+  public boolean enHaut(){
+  return limit3.get();
+  } 
+  public double encodeur(){
+  return rotatione.getEncoder().getPosition();
+  }
+  public void reset(){
+    rotatione.getEncoder().setPosition(0);
+  }
+  public double amp(){
+    return balaye.getOutputCurrent();
+  }
+  public boolean xRequin = false;
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

vendordeps/PathplannerLib-2025.2.3.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "PathplannerLib-2025.2.2.json",
+    "fileName": "PathplannerLib-2025.2.3.json",
     "name": "PathplannerLib",
-    "version": "2025.2.2",
+    "version": "2025.2.3",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.2"
+            "version": "2025.2.3"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.2",
+            "version": "2025.2.3",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/Phoenix6-25.2.2.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-25.2.1.json",
+    "fileName": "Phoenix6-25.2.2.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.2.1",
+    "version": "25.2.2",
     "frcYear": "2025",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "25.2.1"
+            "version": "25.2.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -210,7 +210,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +226,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -242,7 +242,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -258,7 +258,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -274,7 +274,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -290,7 +290,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -306,7 +306,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -322,7 +322,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -338,7 +338,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -354,7 +354,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -370,7 +370,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -386,7 +386,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -402,7 +402,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.2.1",
+            "version": "25.2.2",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,