ajout exspire

.SysId/sysid.json

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

simgui-ds.json

@@ -1,12 +1,12 @@
 {
-  "Joysticks": {
+  "FMS": {
     "window": {
       "visible": false
     }
   },
-  "System Joysticks": {
+  "Joysticks": {
     "window": {
-      "enabled": false
+      "visible": false
     }
   },
   "keyboardJoysticks": [
@@ -98,5 +98,12 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {},
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
   ]
 }

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

@@ -4,74 +4,43 @@
 
 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.BalayeuseAlgue;
+import frc.robot.commands.BalayeuseBas;
+import frc.robot.commands.BalayeuseCoral;
+import frc.robot.commands.BalayeuseHaut;
+import frc.robot.commands.L1Requin;
+import frc.robot.commands.aspire;
+import frc.robot.commands.exspire;
+import frc.robot.commands.requin_manuel;
+import frc.robot.subsystems.Requin;
 import frc.robot.subsystems.Bougie;
+import frc.robot.commands.aspire;
 public class RobotContainer {
-  
-  CommandXboxController manette1 = new CommandXboxController(0);
-  CommandXboxController manette2 = new CommandXboxController(1);
-  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);
+CommandXboxController manette1 = new CommandXboxController(0);
+CommandXboxController manette2 = new CommandXboxController(1);
+Requin requin = new Requin();
+Bougie bougie = new Bougie();
+aspire aspire = new aspire(requin);
+requin_manuel requin_manuel = new requin_manuel(requin);
   public RobotContainer() {
     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));
-
+   requin.setDefaultCommand(new RunCommand(()->{
+      requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
+    }, requin));
   }
 
   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));
+    manette2.a().whileTrue(new aspire(requin));
+    manette2.rightTrigger().whileTrue(new exspire(requin));
+    manette2.b().whileTrue(new BalayeuseAlgue(requin, bougie));
+    manette2.x().whileTrue(new BalayeuseCoral(requin, bougie));
+    manette2.y().whileTrue(new L1Requin(requin,bougie));
+    manette2.rightBumper().whileTrue(new BalayeuseHaut(requin));
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/BalayeuseAlgue.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.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class CoralAlgueInspire extends Command {
-  private Pince pince;
+public class BalayeuseAlgue extends Command {
+  private Requin requin;
   private Bougie bougie;
-  /** Creates a new CoralAlgue. */
-  public CoralAlgueInspire(Pince pince, Bougie bougie) {
-    this.pince = pince;
-    this.bougie = bougie;
-    addRequirements(pince,bougie);
+  /** Creates a new Balayeuse. */
+  public BalayeuseAlgue(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie =bougie;
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,13 +27,23 @@ public class CoralAlgueInspire extends Command {
   // 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();
+     if(requin.encodeur()>=500 &&  requin.encodeur()<=510)
+     {
+       requin.rotationer(0);
+       if(requin.amp()> 60){
+       requin.balaye(0);
+       bougie.Vert();
+     }
+      else
+      {
+           requin.balaye(0.5);
+      }
+     }
+     else if(requin.encodeur()>=510){
+     requin.rotationer(0.5);
      }
      else{
-      pince.aspirealgue(0.5);
+      requin.rotationer(-0.5);
      }
     
    }
@@ -41,8 +51,8 @@ public class CoralAlgueInspire extends Command {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirecoral(0);
-    pince.aspirealgue(0); 
+    requin.rotationer(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,16 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class CorailAspir extends Command {
-  /** Creates a new CorailAspir. */
-  private Pince pince;
-  public CorailAspir(Pince pince) {
+public class BalayeuseBas extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseBas(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
-    this.pince = pince;
-    addRequirements(pince);
   }
 
   // Called when the command is initially scheduled.
@@ -24,14 +24,12 @@ public class CorailAspir extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-
-    pince.aspirecoral(0.5);
+  requin.rotationer(-0.5);
   }
-
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirecoral(0);
+    requin.rotationer(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,17 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
 import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class CoralExpire extends Command {
-  private Pince pince;
-  Bougie bougie;
-  /** Creates a new CoralAlgue. */
-  public CoralExpire(Pince pince, Bougie bougie) {
-    this.pince = pince;
+public class BalayeuseCoral extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseCoral(Requin requin, Bougie bougie) {
+    this.requin = requin;
     this.bougie = bougie;
-    addRequirements(pince,bougie);
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -26,19 +27,36 @@ public class CoralExpire extends Command {
   // 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();
-   // }
+     if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+       requin.rotationer(0);
+      if(requin.amp()>60){
+      requin.balaye(0);
+       bougie.Vert();
+       if(requin.enHaut()){
+        requin.rotationer(0);
+       }
+        else{
+          requin.rotationer(0.5);
+        }
+    }
+     else{
+       requin.balaye(0.5);
+     }
+     }
+     else if(requin.encodeur()>=110){
+     requin.rotationer(0.5);
+     }
+     else{
+       requin.rotationer(-0.5);
+     }
+    
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirecoral(0);
+    requin.rotationer(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/BalayeuseHaut.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.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class DepartPince extends Command {
-  private Pince pince;
-  /** Creates a new DepartPince. */
-  public DepartPince(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
+public class BalayeuseHaut extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseHaut(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,19 +24,19 @@ 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(requin.enHaut()==true){
+      requin.rotationer(0);
+      requin.reset();
     }
     else{
-      pince.pivote(.2);
+      requin.rotationer(-0.5);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    requin.rotationer(0);
   }
 
   // Returns true when the command should end.

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/ExpireAlgue.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.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class CorailTest extends Command {
-  private Pince pince;
-  /** Creates a new AlgueTest. */
-  public CorailTest(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
+public class ExpireAlgue extends Command {
+  private Requin requin;
+  /** Creates a new ExpireAlgue. */
+  public ExpireAlgue(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,13 +24,13 @@ public class CorailTest extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(0.2);
+    requin.balaye(0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirecoral(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/L1Requin.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.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class AlgueExpire extends Command {
-  private Pince pince;
+public class L1Requin extends Command {
+  private Requin requin;
   private Bougie bougie;
-  /** Creates a new CoralAlgue. */
-  public AlgueExpire(Pince pince,Bougie bougie) {
-    this.pince = pince;
+  /** Creates a new Balayeuse. */
+  public L1Requin(Requin requin,Bougie bougie) {
+    this.requin = requin;
     this.bougie = bougie;
-    addRequirements(pince,bougie);
+    addRequirements(requin,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,20 +27,34 @@ 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(requin.encodeur()>=800 &&  requin.encodeur()<=810){
+      requin.rotationer(0);
+      if(requin.amp()>8){
+      requin.balaye(-0.5);
     }
         else{
-      pince.aspirealgue(-0.5);
-      bougie.Jaune();
+          requin.balaye(0); 
+          bougie.Rouge();
       }
+    }
+    else if(requin.encodeur()>=810){
+    requin.rotationer(0.5);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    
+    
+      
     
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.aspirealgue(0); 
+    requin.rotationer(0);
+    requin.balaye(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/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/commands/aspire.java

@@ -5,16 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class Algue1Test extends Command {
-  private Pince pince;
-  /** Creates a new AlgueTest. */
-  public Algue1Test(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
+public class aspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public aspire(Requin requin) {
     // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -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);
+    requin.balaye(0.3);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.algue1Test(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,16 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Pince;
+import frc.robot.subsystems.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class Algue2Test extends Command {
-  private Pince pince;
-  /** Creates a new AlgueTest. */
-  public Algue2Test(Pince pince) {
-    this.pince = pince;
-    addRequirements(pince);
+public class exspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public exspire(Requin requin) {
     // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -24,13 +24,13 @@ public class Algue2Test extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.algue2Test(0.2);
+    requin.balaye(-0.3);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.algue2Test(0);
+    requin.balaye(0);
   }
 
   // Returns true when the command should end.

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

@@ -3,22 +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.Requin;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class PinceManuel extends Command {
-  private Pince pince;
+public class requin_manuel extends Command {
+  /** Creates a new requin_manuel. */
+  private Requin requin;
   private DoubleSupplier x;
-  /** Creates a new PinceManuel. */
-  public PinceManuel(Pince pince, DoubleSupplier x) {
-    this.pince = pince;
-    this.x = x;
-    //this.doubleSupplier = doubleSupplier;
-    addRequirements(pince);
+  public requin_manuel(Requin requin) {
     // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -28,18 +27,18 @@ 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);
+    if(requin.enHaut()){
+    requin.rotationer(0);  
     }
     else{
-      pince.pivote(x.getAsDouble());
+      requin.rotationer(x.getAsDouble());
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    pince.pivote(0);
+    requin.rotationer(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/reset.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.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 reset extends Command {
-  /** Creates a new reset. */
-  private Elevateur elevateur;
-  public reset(Elevateur elevateur) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    this.elevateur = elevateur;
-    addRequirements(elevateur);
-  }
-
-  // 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();
-  }
-
-  // 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

@@ -43,7 +43,8 @@ public class Bougie extends SubsystemBase {
    candle.setLEDs(255, 215, 0,0,48,8);
    candle.setLEDs(255, 215, 0,0,64,8);
    }
-  public void RainBow(){candle.animate(rainbowAnim);}
+  public void RainBow(){
+    candle.animate(rainbowAnim);}
   public void RainBowStop(){candle.animate(null);}
   @Override
   public void periodic() {

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/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
-  }
-}

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

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Requin extends SubsystemBase {
+  /** Creates a new Requin. */
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  public Requin() {
+    teb.addBoolean("limit requin", this::enHaut);
+  }
+   
+  final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
+  final DigitalInput limit3 = new DigitalInput(1);
+    
+  public void balaye(double vitesse){
+    balaye.set(vitesse);
+  }
+  public void rotationer(double vitesse){
+  rotatione.set(vitesse);
+  }
+  public boolean enHaut(){
+  return limit3.get();
+  } 
+  public double encodeur(){
+  return rotatione.getEncoder().getPosition();
+  }
+  public void reset(){
+    rotatione.getEncoder().setPosition(0);
+  }
+  public double amp(){
+    return balaye.getOutputCurrent();
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}