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

@@ -164,7 +164,7 @@ public class RobotContainer {
         drivetrain.applyRequest(()->
          drive.withVelocityX(0.1*MaxSpeed)
         .withVelocityY(0)
-        .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35),
+        .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3.5),
      drivetrain.applyRequest(()->
      drive.withVelocityX(-0.1*MaxSpeed)
     .withVelocityY(0)

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

@@ -38,10 +38,10 @@ public class StationPince extends Command {
     if(pince.emperagecoral() >= 18){     
       pince.x = true;
     }
-    if(elevateur.position()<=-0.4 && elevateur.position()>= -0.5){
+    if(elevateur.position()<=-0.1 && elevateur.position()>= -0.2){
       elevateur.vitesse(0);
     }
-    else if(elevateur.position()>=-0.4){
+    else if(elevateur.position()>=-0.1){
       elevateur.vitesse(-0.7);
       }
       else{

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

@@ -28,12 +28,12 @@ public class ExpireCorail extends Command {
   @Override
   public void execute() {
     if(requin.amp()> 60){
-      requin.balaye(-0.1);
+      requin.balaye(-0.2);
     }
     else
     {
     bougie.Rouge();
-    requin.balaye(-0.1);   
+    requin.balaye(-0.2);   
   }
 }
 

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

@@ -31,11 +31,11 @@ public class exspire extends Command {
   public void execute() {
    if(requin.amp()> 15)
    {
-    requin.balaye(0.2);
+    requin.balaye(0.4);
    }
    else{
     bougie.Rouge();
-    requin.balaye(0.2);
+    requin.balaye(0.4);
    }
   }