Grimpeur, Fonctionne

.SysId/sysid.json

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

simgui-ds.json

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

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

@@ -4,77 +4,42 @@
 
 package frc.robot;
 
-import com.pathplanner.lib.auto.NamedCommands;
 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.Algue1Test;
-import frc.robot.commands.Algue2Test;
-import frc.robot.commands.AlgueExpire;
-import frc.robot.commands.CorailAspir;
-import frc.robot.commands.CorailTest;
-import frc.robot.commands.CoralAlgueInspire;
-import frc.robot.commands.CoralExpire;
-import frc.robot.commands.Depart;
-import frc.robot.commands.DepartPince;
-import frc.robot.commands.ElevateurManuel;
-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.StationPince;
-import frc.robot.commands.reset;
-import frc.robot.subsystems.Elevateur;
-import frc.robot.subsystems.Pince;
+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();
-  Pince pince = new Pince();
-  Elevateur elevateur = new Elevateur();
-  ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
-  PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
-  PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
+  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();
-    elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
-    }, elevateur));
-    pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
-    }, pince));
-     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() {
-    // manette1
-    manette1.a().whileTrue(new Depart(elevateur, pince));
-    manette1.b().whileTrue(new L2(elevateur,pince));
-    manette1.x().whileTrue(new L3(elevateur, pince));
-    manette1.y().whileTrue(new L4(elevateur, pince));
-    manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
-    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
-    //manette2
-    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
-    manette2.a().whileTrue(new CorailAspir(pince));
-    manette2.b().whileTrue(new CoralExpire(pince, bougie));
-    manette2.povLeft().whileTrue(new Algue1Test(pince));
-    manette2.povRight().whileTrue(new Algue2Test(pince));
-    manette2.x().whileTrue(new CorailTest(pince));
-    manette2.start().whileTrue(new reset(elevateur));
   }
   
+  private void configureBindings() {
+    manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
+    manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
+    manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
+  }
+
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
-}
+}

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

@@ -1,41 +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.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/CorailAspir.java

@@ -1,42 +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.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/CorailTest.java

@@ -1,41 +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.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/CoralAlgueInspire.java

@@ -1,53 +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.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/CoralExpire.java

@@ -1,49 +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.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/Depart.java

@@ -1,52 +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.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/ElevateurManuel.java

@@ -1,48 +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 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()==true){
-      elevateur.vitesse(0);
-    }
-    elevateur.vitesse(doubleSupplier.getAsDouble()/7);
-  }
-
-  // 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/GrimperHaut.java

@@ -6,17 +6,17 @@ package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Pince;
+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 AlgueExpire extends Command {
-  private Pince pince;
+public class GrimperHaut extends Command {
+  private Grimpeur grimpeur;
   private Bougie bougie;
-  /** Creates a new CoralAlgue. */
-  public AlgueExpire(Pince pince,Bougie bougie) {
-    this.pince = pince;
+  /** Creates a new Grimper. */
+  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
+    this.grimpeur = grimpeur;
     this.bougie = bougie;
-    addRequirements(pince,bougie);
+    addRequirements(grimpeur,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,25 +27,30 @@ public class AlgueExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagealgue()>60){
-      pince.aspirealgue(-0.5);
+    if(grimpeur.stop()==true){
+      grimpeur.grimpe(0);
+      grimpeur.reset();
+      bougie.RainBow();
     }
     else{
-      pince.aspirealgue(-0.5);
-      bougie.Jaune();
+      grimpeur.grimpe(0.5);
+      bougie.RainBowStop();
     }
-    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirealgue(0); 
+    grimpeur.grimpe(0);
+   if(grimpeur.stop()){
+    bougie.RainBow();
+   }
+
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return grimpeur.stop()==true;
   }
 }

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+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 DepartPince extends Command {
-  private Pince pince;
-  /** Creates a new DepartPince. */
-  public DepartPince(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
+public class GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,19 +24,20 @@ public class DepartPince extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.position()==true){
-      pince.pivote(0);
-      pince.reset();
+    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
+      grimpeur.grimpe(0);
     }
-    else{
-      pince.pivote(.2);
+    else if(grimpeur.encodeur()>=-38.5){
+      grimpeur.grimpe(-0.5);
     }
+   else{grimpeur.grimpe(0.5);
+  } 
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    grimpeur.grimpe(0);
   }
 
   // Returns true when the command should end.

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

@@ -3,21 +3,21 @@
 // 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;
+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 PinceManuel extends Command {
-  private Pince pince;
+public class GrimpeurManuel extends Command {
+  private Grimpeur grimpeur;
   private DoubleSupplier x;
-  /** Creates a new PinceManuel. */
-  public PinceManuel(Pince pince, DoubleSupplier x) {
-    this.pince = pince;
+  /** Creates a new GrimpeurManuel. */
+  public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
+    this.grimpeur = grimpeur;
     this.x = x;
-    //this.doubleSupplier = doubleSupplier;
-    addRequirements(pince);
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -28,18 +28,19 @@ public class PinceManuel extends Command {
   // 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());
-     }
+    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) {
-    pince.pivote(0);
+    grimpeur.grimpe(0);
   }
 
   // Returns true when the command should end.

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

@@ -1,65 +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.Elevateur;
-import frc.robot.subsystems.Pince;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class L2 extends Command {
-  private Elevateur elevateur;
-  private Pince pince;
-  /** Creates a new L2. */
-  public L2(Elevateur elevateur,Pince pince) {
-    this.elevateur = elevateur;
-    this.pince = pince;
-    addRequirements(elevateur,pince);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(elevateur.position()>=500 && elevateur.position()<=510){
-      elevateur.vitesse(0);
-    }
-    else if(elevateur.position()>=510){
-      elevateur.vitesse(0.3);
-    }
-    else{
-      elevateur.vitesse(.3);
-    }
-    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

@@ -1,63 +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.Elevateur;
-import frc.robot.subsystems.Pince;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class L3 extends Command {
-  private Elevateur elevateur;
-  private Pince pince;
-  /** Creates a new L2. */
-  public L3(Elevateur elevateur,Pince pince) {
-    this.elevateur = elevateur;
-    this.pince = pince;  
-    addRequirements(elevateur,pince);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(elevateur.position()>=700 && elevateur.position()<=710){
-      elevateur.vitesse(0);
-    }
-    else if(elevateur.position()>=510){
-      elevateur.vitesse(0.5);
-    }
-    else{
-      elevateur.vitesse(-.5);
-    }
-    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

@@ -1,63 +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.Elevateur;
-import frc.robot.subsystems.Pince;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class L4 extends Command {
-  private Elevateur elevateur;
-  private Pince pince;
-  /** Creates a new L2. */
-  public L4(Elevateur elevateur,Pince pince) {
-    this.elevateur = elevateur;
-    this.pince = pince;
-    addRequirements(elevateur,pince);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(elevateur.position()>=800 && elevateur.position()<=809){
-      elevateur.vitesse(0);
-    }
-    else if(elevateur.position()>=810){
-      elevateur.vitesse(0.5);
-    }
-    else{
-      elevateur.vitesse(.5);
-    }
-    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/PinceManuel2.java

@@ -1,47 +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.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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 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 Algue1Test extends Command {
-  private Pince pince;
-  /** Creates a new AlgueTest. */
-  public Algue1Test(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
+public class RainBow extends Command {
+  /** Creates a new RainBow. */
+  private Bougie bougie;
+  public RainBow(Bougie bougie) {
+    this.bougie = bougie;
+    addRequirements(bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,13 +24,13 @@ public class Algue1Test extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.algue1Test(0.2);
+    bougie.RainBow();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.algue1Test(0);
+    bougie.RainBowStop();
   }
 
   // Returns true when the command should end.

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

@@ -5,18 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Elevateur;
-
-
+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 reset extends Command {
-  /** Creates a new reset. */
-  private Elevateur elevateur;
-  public reset(Elevateur elevateur) {
+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.
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
   }
 
   // Called when the command is initially scheduled.
@@ -26,7 +24,7 @@ public class reset extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    elevateur.reset();
+    grimpeur.reset();
   }
 
   // Called once the command ends or is interrupted.

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

@@ -1,64 +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.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;
-  /** 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() {
-    pince.aspirecoral(0.5);
-    if(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
-      pince.pivote(0);
-    }
-    else if(pince.encodeurpivot()>=910){
-      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/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(23);
+  CANdle candle = new CANdle(5);
   CANdleConfiguration config = new CANdleConfiguration();
   RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
   /** Creates a new Bougie. */
@@ -20,29 +20,14 @@ public class Bougie extends SubsystemBase {
     candle.configAllSettings(config);
   }
   public void Rouge() {
-   candle.setLEDs(255, 0, 0,0,8,8);
-   candle.setLEDs(255, 0, 0,0,24,8);
-   candle.setLEDs(255, 0, 0,0,40,8);
-   candle.setLEDs(255, 0, 0,0,56,8);
+   candle.setLEDs(255, 0, 0);
   }
   public void Vert() {
-   candle.setLEDs(0, 255, 0,0,8,8);
-   candle.setLEDs(0, 255, 0,0,24,8);
-   candle.setLEDs(0, 255, 0,0,40,8);
-   candle.setLEDs(0, 255, 0,0,56,8);
+   candle.setLEDs(0, 255, 0);
   }
   public void Bleu() {
-    candle.setLEDs(0, 0, 255,0,16,8);
-    candle.setLEDs(0, 0, 255,0,32,8);
-    candle.setLEDs(0, 0, 255,0,48,8);
-    candle.setLEDs(0, 0, 255,0,64,8);
+   candle.setLEDs(0, 0, 255);
   }
-   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
@@ -50,3 +35,4 @@ public class Bougie extends SubsystemBase {
     // This method will be called once per scheduler run
   }
 }
+

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

@@ -1,37 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.subsystems;
-
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-public class Elevateur extends SubsystemBase {
-  /** Creates a new Elevateur. */
-  public Elevateur() {}
-  final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
-  final DigitalInput limit2 = new DigitalInput(1);
-  GenericEntry teb = Shuffleboard.getTab("teb")
-  .add("elevateur encodeur",position())
-  .getEntry();
-  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

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

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

@@ -1,61 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.subsystems;
-
-import com.revrobotics.spark.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.wpilibj2.command.SubsystemBase;
-
-public class Pince extends SubsystemBase {
-  /** Creates a new Pince. */
-  public Pince() {}
-  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(0);
-   GenericEntry teb = Shuffleboard.getTab("teb")
-  .add("pince encodeur",encodeurpivot())
-  .getEntry();
-  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
-  }
-}