debug

simgui-ds.json

@@ -1,97 +0,0 @@
-{
-  "System Joysticks": {
-    "window": {
-      "enabled": false
-    }
-  },
-  "keyboardJoysticks": [
-    {
-      "axisConfig": [
-        {
-          "decKey": 65,
-          "incKey": 68
-        },
-        {
-          "decKey": 87,
-          "incKey": 83
-        },
-        {
-          "decKey": 69,
-          "decayRate": 0.0,
-          "incKey": 82,
-          "keyRate": 0.009999999776482582
-        }
-      ],
-      "axisCount": 3,
-      "buttonCount": 4,
-      "buttonKeys": [
-        90,
-        88,
-        67,
-        86
-      ],
-      "povConfig": [
-        {
-          "key0": 328,
-          "key135": 323,
-          "key180": 322,
-          "key225": 321,
-          "key270": 324,
-          "key315": 327,
-          "key45": 329,
-          "key90": 326
-        }
-      ],
-      "povCount": 1
-    },
-    {
-      "axisConfig": [
-        {
-          "decKey": 74,
-          "incKey": 76
-        },
-        {
-          "decKey": 73,
-          "incKey": 75
-        }
-      ],
-      "axisCount": 2,
-      "buttonCount": 4,
-      "buttonKeys": [
-        77,
-        44,
-        46,
-        47
-      ],
-      "povCount": 0
-    },
-    {
-      "axisConfig": [
-        {
-          "decKey": 263,
-          "incKey": 262
-        },
-        {
-          "decKey": 265,
-          "incKey": 264
-        }
-      ],
-      "axisCount": 2,
-      "buttonCount": 6,
-      "buttonKeys": [
-        260,
-        268,
-        266,
-        261,
-        269,
-        267
-      ],
-      "povCount": 0
-    },
-    {
-      "axisCount": 0,
-      "buttonCount": 0,
-      "povCount": 0
-    }
-  ]
-}

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

@@ -4,40 +4,15 @@
 
 package frc.robot;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.RunCommand;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.commands.GrimperHaut;
-import frc.robot.commands.GrimpeurBas;
-import frc.robot.commands.GrimpeurManuel;
-import frc.robot.commands.ResetGrimpeur;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Grimpeur;
 
 public class RobotContainer {
-  CommandXboxController manette1 = new CommandXboxController(0);
-  CommandXboxController manette2 = new CommandXboxController(1);
-  Grimpeur grimpeur = new Grimpeur();
-  Bougie bougie = new Bougie();
-  GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette2::getLeftY);
   public RobotContainer() {
-    grimpeur.setDefaultCommand(new RunCommand(()->{
-      if(grimpeur.stop()){
-       grimpeur.grimpe(0); 
-      }
-      else{
-        grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
-    }}, grimpeur));
     configureBindings();
   }
 
-  private void configureBindings() {
-    manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
-    manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
-    manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
-  }
+  private void configureBindings() {}
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

src/main/java/frc/robot/command/AlgueExpire.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands;
+package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+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 ResetGrimpeur extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new ResetGrimpeur. */
-  public ResetGrimpeur(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
+public class AlgueExpire extends Command {
+  private Pince pince;
+  /** Creates a new CoralAlgue. */
+  public AlgueExpire(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,12 +24,14 @@ public class ResetGrimpeur extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    grimpeur.reset();
+    pince.aspirealgue(0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    pince.aspirealgue(0); 
+  }
 
   // Returns true when the command should end.
   @Override

src/main/java/frc/robot/command/CoralAlgueInspire.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.command;
+
+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 CoralAlgueInspire extends Command {
+  private Pince pince;
+  /** Creates a new CoralAlgue. */
+  public CoralAlgueInspire(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(-.5);
+    if(pince.emperagealgue()>8){
+      pince.aspirealgue(0);
+     } 
+     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/command/CoralExpire.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands;
+package frc.robot.command;
 
 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 RainBow extends Command {
-  /** Creates a new RainBow. */
-  private Bougie bougie;
-  public RainBow(Bougie bougie) {
-    this.bougie = bougie;
-    addRequirements(bougie);
+public class CoralExpire extends Command {
+  private Pince pince;
+  /** Creates a new CoralAlgue. */
+  public CoralExpire(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,13 +24,13 @@ public class RainBow extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    bougie.RainBow();
+    pince.aspirecoral(.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    bougie.RainBowStop();
+    pince.aspirecoral(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/CoralInspire.java

@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands;
+package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+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 GrimpeurBas extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new GrimpeurBas. */
-  public GrimpeurBas(Grimpeur grimpeur) {
-    this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
+public class CoralInspire extends Command {
+  private Pince pince;
+  /** Creates a new CoralAlgue. */
+  public CoralInspire(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,20 +24,18 @@ public class GrimpeurBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
-      grimpeur.grimpe(0);
+    if(pince.emperagecoral()>8){
+    pince.aspirecoral(0);  
     }
-    else if(grimpeur.encodeur()>=-38.5){
-      grimpeur.grimpe(-0.5);
+    else{
+      pince.aspirecoral(.5);
     }
-   else{grimpeur.grimpe(0.5);
-  } 
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
+    pince.aspirecoral(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/DepartPince.java

@@ -2,22 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands;
-
-import java.util.function.DoubleSupplier;
+package frc.robot.command;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Grimpeur;
+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 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);
+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.
   }
 
@@ -28,19 +24,19 @@ public class GrimpeurManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.stop()){
-      grimpeur.grimpe(0);
+    if(pince.position()==true){
+      pince.pivote(0);
+      pince.reset();
     }
     else{
-    grimpeur.grimpe(x.getAsDouble());  
+      pince.pivote(.5);
     }
-    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.grimpe(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/command/L2Pince.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.command;
+
+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 L2Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L2Pince(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.encodeurpivot()>=500 && pince.encodeurpivot()<=510){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=510){
+      pince.pivote(-0.3);
+    }
+    else{
+      pince.pivote(0.3);
+    }
+  }
+
+  // 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/command/L3Pince.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.command;
+
+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 L3Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L3Pince(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.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=710){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // 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/command/L4Pince.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.command;
+
+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 L4Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L4Pince(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.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=810){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // 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/command/StationPince.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.command;
+
+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 StationPince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public StationPince(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.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=910){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // 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/GrimperHaut.java

@@ -1,56 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands;
-
-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/subsystems/Bougie.java

@@ -1,38 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.subsystems;
-
-import com.ctre.phoenix.led.CANdle;
-import com.ctre.phoenix.led.CANdleConfiguration;
-import com.ctre.phoenix.led.RainbowAnimation;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Bougie extends SubsystemBase {
-  CANdle candle = new CANdle(5);
-  CANdleConfiguration config = new CANdleConfiguration();
-  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
-  /** Creates a new Bougie. */
-  public Bougie() {
-    config.brightnessScalar = 0.5;
-    candle.configAllSettings(config);
-  }
-  public void Rouge() {
-   candle.setLEDs(255, 0, 0);
-  }
-  public void Vert() {
-   candle.setLEDs(0, 255, 0);
-  }
-  public void Bleu() {
-   candle.setLEDs(0, 0, 255);
-  }
-  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/Grimpeur.java

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

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

@@ -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.subsystems;
+
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Pince extends SubsystemBase {
+  /** Creates a new Pince. */
+  public Pince() {}
+  final SparkMax coral = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax pivoti = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax algue1 = new SparkMax(0, MotorType.kBrushless);
+  final SparkMax algue2 = new SparkMax(0, MotorType.kBrushless);
+  final DigitalInput limit6 = new DigitalInput(0);
+  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();
+}
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}