dashboard pas

.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/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": 1.8820696721311476,
+        "y": 6.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.8706512438743716,
+        "y": 5.690872003047288
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8820696721311476,
+        "y": 3.1279999999999997
+      },
+      "prevControl": {
+        "x": 1.8863317961339294,
+        "y": 3.3779636659576444
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "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

@@ -5,89 +5,156 @@
 package frc.robot;
 
 import static edu.wpi.first.units.Units.*;
-
 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 com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.util.FlippingUtil;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.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.AprilTag3;
+import frc.robot.commands.AprilTag3G;
+import frc.robot.commands.Depart;
+import frc.robot.commands.ElevateurManuel;
+import frc.robot.commands.Forme3;
+import frc.robot.commands.L2;
+import frc.robot.commands.L3;
+import frc.robot.commands.L4;
+import frc.robot.commands.PinceManuel;
+import frc.robot.commands.PinceManuel2;
 import frc.robot.commands.RainBow;
+import frc.robot.commands.StationPince;
+import frc.robot.commands.reset;
+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.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Grimpeur;
-
+import frc.robot.subsystems.Limelight3;
+import frc.robot.subsystems.Limelight3G;
+import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
-    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
+  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()
-            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
-            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
+  /* 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
 
-    private final Telemetry logger = new Telemetry(MaxSpeed);
+  private final Telemetry logger = new Telemetry(MaxSpeed);
+  private final CommandXboxController manette1 = 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 CommandXboxController manette1 = new CommandXboxController(0);
-    private final CommandXboxController manette2 = new CommandXboxController(0);
+  Elevateur elevateur = new Elevateur();
+  Pince pince = new Pince();
+  ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
+  PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
+  PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
+  Bougie bougie = new Bougie();
+  Limelight3G limelight3g = new Limelight3G();
+  Limelight3 limelight3 = new Limelight3();
+  Pose2d pose = new Pose2d();
+  Grimpeur Grimpeur = new Grimpeur();
   
-    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-    
-    private final SendableChooser<Command> autoChooser;
-    Bougie bougie = new Bougie();
-    
-    
-    public RobotContainer() {
-        autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-        SmartDashboard.putData("Auto Mode", autoChooser);
-        configureBindings();
+  public RobotContainer() {
+    autoChooser = AutoBuilder.buildAutoChooser("New Auto");
+    SmartDashboard.putData("Auto Mode", autoChooser);
+    configureBindings();
+    NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
+    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+    NamedCommands.registerCommand("L4", new L4(elevateur, pince));
+    NamedCommands.registerCommand("L3", new L3(elevateur, pince));
+    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
+    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
     }
+  private void configureBindings() {
     
-    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.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)
-            )
-        );
+ drivetrain.setDefaultCommand(
+          // Drivetrain will execute this command periodically
+          drivetrain.applyRequest(() ->
+            drive.withVelocityX(MathUtil.applyDeadband(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
+              .withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
+        )
+      );
+    // Elevateur manuel
+    drivetrain.registerTelemetry(logger::telemeterize);
+    elevateur.setDefaultCommand(new RunCommand(()->{
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.1));
+    }, elevateur));
+
+    //Pince manuel
+    pince.setDefaultCommand(new RunCommand(()->{
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
+    }, pince));
      
     
-        // reset the field-centric heading on left bumper press
-        manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+    // manette1
 
-        drivetrain.registerTelemetry(logger::telemeterize);
+    // reset the field-centric heading on start press
+    manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+
+    //elevateur
+    manette1.a().whileTrue(new Depart(elevateur, pince));
+    manette1.b().whileTrue(new L2(elevateur,pince));
+    manette1.x().whileTrue(new L3(elevateur, pince));
+    manette1.y().whileTrue(new L4(elevateur, pince));
+
+    //pince
+    manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
+    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
+    manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
+
+    //manette2
+
+    //pince
+    manette2.a().whileTrue(new CorailAspir(pince));
+    manette2.start().whileTrue(new reset(elevateur, pince));
+    manette2.b().whileTrue(new Algue_inspire(pince));
+    manette2.start().whileTrue(new reset(elevateur,pince));
+    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+
+    //limelight
+    manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+  }
+  
+    // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    
+    public Command getAutonomousCommand() {
+      return new SequentialCommandGroup(Commands.runOnce(()->{
+        boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
+        if(flip){
+            drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
+        }
+        else{
+            drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
+        }
+      }),autoChooser.getSelected(), new RainBow(bougie));
     }    
-
-   
-        public Command getAutonomousCommand() {
-            return 
-             new 
-            ParallelCommandGroup(
-              autoChooser
-                     .getSelected(),
-            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(100).withKI(0).withKD(0.5)
-        .withKS(0.1).withKV(2.66).withKA(0)
+    //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(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/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;
+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/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;
+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/5).
+      withVelocityX(x.getAsDouble()).
+      withVelocityY(y.getAsDouble()));  
+       System.out.println(a/5);
+    }
+    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 limelight3g.getX()<1 && limelight3g.getX()>-1;
+  }
+}

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

@@ -0,0 +1,52 @@
+// 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;
+
+/* 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.pince = pince;
+    this.elevateur = elevateur;
+    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.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/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;
+
+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(.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/ElevateurManuel.java

@@ -0,0 +1,46 @@
+// 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 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/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;
+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/GrimperHaut.java

@@ -0,0 +1,56 @@
+// 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.Bougie;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimperHaut extends Command {
+  private Grimpeur grimpeur;
+  private Bougie bougie;
+  /** Creates a new Grimper. */
+  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
+    this.grimpeur = grimpeur;
+    this.bougie = bougie;
+    addRequirements(grimpeur,bougie);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.stop()==true){
+      grimpeur.grimpe(0);
+      grimpeur.reset();
+      bougie.RainBow();
+    }
+    else{
+      grimpeur.grimpe(0.5);
+      bougie.RainBowStop();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+   if(grimpeur.stop()){
+    bougie.RainBow();
+   }
+
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return grimpeur.stop()==true;
+  }
+}

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

@@ -0,0 +1,57 @@
+// 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.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+   NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurgrimpeurbas").subscribe(-39.19);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurgrimpeurhaut ").subscribe(-38.5);
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double encodeurbas = encodeur1.get();
+    double encodeurhaut = encodeur2.get();
+    if(grimpeur.encodeur()>=encodeurhaut && grimpeur.encodeur()<=encodeurbas){
+      grimpeur.grimpe(0);
+    }
+    else if(grimpeur.encodeur()>=encodeurhaut){
+      grimpeur.grimpe(-0.5);
+    }
+   else{grimpeur.grimpe(0.5);
+  } 
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/GrimpeurManuel.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;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimpeurManuel extends Command {
+  private Grimpeur grimpeur;
+  private DoubleSupplier x;
+  /** Creates a new GrimpeurManuel. */
+  public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
+    this.grimpeur = grimpeur;
+    this.x = x;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.stop()){
+      grimpeur.grimpe(0);
+    }
+    else{
+    grimpeur.grimpe(x.getAsDouble());  
+    }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/L2.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;
+
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+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;
+
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurelevateurbasL2").subscribe(-1);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurelevateurhautL2").subscribe(-0.9);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL2").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpinceautL2").subscribe(-0.9);
+  /** 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() {
+    double encodeurbase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
+    if(elevateur.position()<=encodeurbase && elevateur.position()>=-encodeurhaute){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=encodeurbase){
+      elevateur.vitesse(-0.2);
+    }
+    else{
+      elevateur.vitesse(.2);
+    // }
+    // if(pince.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+    //   pince.pivote(0);
+     
+    // }
+    // else if(pince.encodeurpivot()>=510){
+    //   pince.pivote(0.2);
+    // }
+    // else{
+    //   pince.pivote(-0.2);
+     }
+
+  }
+
+  // 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/L3.java

@@ -0,0 +1,76 @@
+// 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.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+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;
+    NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurhautL3").subscribe(-2.9);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurbasL3").subscribe(-3);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL3").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL3").subscribe(-0.9);
+  /** 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() {
+    double encodeurHaute = encodeur1.get();
+    double encodeurBase = encodeur2.get();
+    double encodeurbase = encodeur3.get();
+    double encodeurhaute = encodeur4.get();
+    if(elevateur.position()<=-encodeurHaute && elevateur.position()>=encodeurBase){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=-encodeurHaute){
+      elevateur.vitesse(-0.2);
+    }
+    else{
+      elevateur.vitesse(.2);
+    }
+    // if(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+    //   pince.pivote(0);
+    // }
+    // else if(pince.encodeurpivot()>=710){
+    //   pince.pivote(0.2);
+    // }
+    // else{
+    //   pince.pivote(-0.2);
+    // }
+  }
+
+  // Called once the command ends or is interrupted.
+  @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/L4.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;
+
+import edu.wpi.first.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.DoubleTopic;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+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;
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleTopic encodeur1topic = tabelevateur.getDoubleTopic("encodeurbasL4");
+  DoubleSubscriber encodeur1 = encodeur1topic.subscribe(-6.4);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9);
+  /** Creates a new L2. */
+  public L4(Elevateur elevateur,Pince pince) {
+    this.elevateur = elevateur;
+    this.pince = pince;
+    encodeur1topic.setPersistent(true);
+    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() {
+    double encodeurBase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
+    if(elevateur.position()<=encodeurhaute && elevateur.position()>=encodeurBase){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=encodeurhaute){
+      elevateur.vitesse(-0.2);
+    }
+    else{
+      elevateur.vitesse(.2);
+    }
+    // if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
+    //   pince.pivote(0);
+    // }
+    // else if(pince.encodeurpivot()>=810){
+    //   pince.pivote(0.2);
+    // }
+    // else{
+    //   pince.pivote(-0.2);
+    // }
+  }
+
+  // Called once the command ends or is interrupted.
+  @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/Pince/Algue1Test.java

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.Pince;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Algue1Test extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public Algue1Test(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    pince.algue1Test(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.algue1Test(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Pince/Algue2Test.java

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.Pince;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Algue2Test extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public Algue2Test(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    pince.algue2Test(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.algue2Test(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 +1,44 @@
+// 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 Algue_inspire extends Command {
+  /** Creates a new Algue_inspire. */
+  private Pince pince;
+  public Algue_inspire(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.
+
+  //ajouter l'amperage pour arreter les moteurs
+  @Override
+  public void execute() {
+    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 +1,42 @@
+// 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 CorailAspir extends Command {
+  /** Creates a new CorailAspir. */
+  private Pince pince;
+  public CorailAspir(Pince pince) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.pince = pince;
+    addRequirements(pince);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+    pince.aspirecoral(0.5);
+  }
+
+  // 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 false;
+  }
+}

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

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.Pince;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class CorailTest extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public CorailTest(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    pince.aspirecoral(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -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);
+      }
+    
+  }
+
+  // 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() {
+    //if(pince.emperagecoral() > 60){
+    //  pince.aspirecoral(0);
+   //}
+   //else{
+    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/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;
+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/PinceManuel2.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.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 PinceManuel2 extends Command {
+  private Pince pince;
+  //private DoubleSupplier doubleSupplier;
+  /** Creates a new PinceManuel. */
+  public PinceManuel2(Pince pince
+   
+  //,DoubleSupplier doubleSupplier
+  ) {
+    this.pince = pince;
+   // 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() {
+
+      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/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/ResetGrimpeur.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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ResetGrimpeur extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new ResetGrimpeur. */
+  public ResetGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    grimpeur.reset();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,77 @@
+// 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.networktables.DoubleSubscriber;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+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 StationPince extends Command {
+  
+  private Pince pince;
+  private Elevateur elevateur;
+  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
+  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas Station").subscribe(-0.5);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut Station").subscribe(-0.4);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas Station").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut Station").subscribe(-0.9);
+  /** Creates a new L2Pince. */
+  public StationPince(Pince pince,Elevateur elevateur) {
+    this.elevateur = elevateur;
+    this.pince = pince;
+    addRequirements(pince,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() {
+    double encodeurBase = encodeur1.get();
+    double encodeurhaute = encodeur2.get();
+    double encodeurbasp = encodeur3.get();
+    double encodeurhautp = encodeur4.get();
+    pince.aspirecoral(0.5);
+    if(pince.encodeurpivot()<=encodeurBase && pince.encodeurpivot()>=encodeurhaute){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=encodeurBase){
+      pince.pivote(0.2);
+    }
+    else{
+      pince.pivote(-0.2);
+    }
+    if(elevateur.position()>=400 && elevateur.position()<=410){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=410){
+      elevateur.vitesse(0.3);
+    }
+    else{
+      elevateur.vitesse(-.3);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+    pince.aspirecoral(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,45 @@
+// 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;
+
+
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class reset extends Command {
+  /** Creates a new reset. */
+  private Elevateur elevateur;
+  private Pince pince;
+  public reset(Elevateur elevateur, Pince pince) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.elevateur = elevateur;
+    this.pince = pince;
+    addRequirements(elevateur,pince);
+  }
+
+  // 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();
+  }
+
+  // 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

@@ -11,7 +11,7 @@ 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);
   /** Creates a new Bougie. */
@@ -20,14 +20,29 @@ public class Bougie extends SubsystemBase {
     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);
   }
   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);
   }
   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);
   }
+   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);
+   }
   public void RainBow(){candle.animate(rainbowAnim);}
   public void RainBowStop(){candle.animate(null);}
   @Override
@@ -35,4 +50,3 @@ public class Bougie extends SubsystemBase {
     // This method will be called once per scheduler run
   }
 }
-

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

@@ -3,18 +3,15 @@ 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;
@@ -30,7 +27,7 @@ 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 {
     
@@ -53,6 +50,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     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)
@@ -126,9 +124,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
                 ),
                 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, 0, 0)
+                    new PIDConstants(7.9735, 0, 0.038499)
                 ),
                 config,
                 // Assume the path needs to be flipped for Red vs Blue, this is normally the case
@@ -138,10 +136,13 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         } 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;
+    private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineSteer;
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.

src/main/java/frc/robot/subsystems/Elevateur.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.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. */
+  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){
+    monte.set(vitesse);
+  }
+  public boolean limit2(){
+    return limit2.get();
+  } 
+  public void reset(){
+    monte.getEncoder().setPosition(0);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -4,21 +4,35 @@
 
 package frc.robot.subsystems;
 
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Grimpeur. */
-  public Grimpeur() {}
-  final Spark grimpeur = new Spark(0);
-  final DigitalInput limit1 = new DigitalInput(0);
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  public Grimpeur() {
+    teb.addBoolean("limit grimpeur", this::stop);
+    teb.addDouble("encodeur grimpeur", this::encodeur);
+  }
+  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
+  final DigitalInput limit1 = new DigitalInput(2);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);
   }
-  final void stop(){
-    limit1.get();
+  public boolean stop(){
+   return limit1.get();
   }
+  public double encodeur(){
+  return grimpeur.getEncoder().getPosition();
+  }
+  public void reset(){
+     grimpeur.getEncoder().setPosition(0);
+    }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

src/main/java/frc/robot/subsystems/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 +1,65 @@
+// 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.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;
+
+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);
+  }
+  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){
+  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 void algue1Test(double vitesse){
+  algue1.set(vitesse);
+}
+public void algue2Test(double vitesse){
+  algue2.set(vitesse);
+}
+  @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,