limit avec pince manuel

.SysId/sysid.json

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

simgui-ds.json

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

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

@@ -4,43 +4,74 @@
 
 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.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.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.subsystems.Bougie;
-import frc.robot.commands.aspire;
 public class RobotContainer {
-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);
+  
+  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);
   public RobotContainer() {
     configureBindings();
-   requin.setDefaultCommand(new RunCommand(()->{
-      requin.rotationer(MathUtil.applyDeadband(manette2.getRightY(), 0.2));
-    }, requin));
+    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() {
-    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));
+    // 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));
   }
   
   public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/Algue1Test.java

@@ -5,16 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+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 aspire extends Command {
-  /** Creates a new aspire. */
-  private Requin requin;
-  public aspire(Requin requin) {
+public class Algue1Test extends Command {
+  private Pince pince;
+  /** Creates a new AlgueTest. */
+  public Algue1Test(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
-    this.requin = requin;
-    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -24,13 +24,13 @@ public class aspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.3);
+    pince.algue1Test(0.2);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.balaye(0);
+    pince.algue1Test(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,16 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+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 exspire extends Command {
-  /** Creates a new aspire. */
-  private Requin requin;
-  public exspire(Requin requin) {
+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.
-    this.requin = requin;
-    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -24,13 +24,13 @@ public class exspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(-0.3);
+    pince.algue2Test(0.2);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.balaye(0);
+    pince.algue2Test(0);
   }
 
   // Returns true when the command should end.

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

@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Pince;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class AlgueExpire extends Command {
+  private Pince pince;
+  private Bougie bougie;
+  /** Creates a new CoralAlgue. */
+  public AlgueExpire(Pince pince,Bougie bougie) {
+    this.pince = pince;
+    this.bougie = bougie;
+    addRequirements(pince,bougie);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(pince.emperagealgue()>60){
+      pince.aspirealgue(-0.5);
+    }
+    else{
+      pince.aspirealgue(-0.5);
+      bougie.Jaune();
+    }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.aspirealgue(0); 
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/BalayeuseAlgue.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.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 BalayeuseAlgue extends Command {
-  private Requin requin;
-  private Bougie 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.
-  }
-
-  // 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(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{
-      requin.rotationer(-0.5);
-     }
-    
-   }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    requin.rotationer(0);
-    requin.balaye(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -5,16 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+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 BalayeuseBas extends Command {
-  private Requin requin;
-  /** Creates a new Balayeuse. */
-  public BalayeuseBas(Requin requin) {
-    this.requin = requin;
-    addRequirements(requin);
+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.
@@ -24,12 +24,14 @@ public class BalayeuseBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  requin.rotationer(-0.5);
+
+    pince.aspirecoral(0.5);
   }
+
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.rotationer(0);
+    pince.aspirecoral(0);
   }
 
   // Returns true when the command should end.

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+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 ExpireAlgue extends Command {
-  private Requin requin;
-  /** Creates a new ExpireAlgue. */
-  public ExpireAlgue(Requin requin) {
-    this.requin = requin;
-    addRequirements(requin);
+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.
   }
 
@@ -24,13 +24,13 @@ public class ExpireAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    requin.balaye(0.5);
+    pince.aspirecoral(0.2);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.balaye(0);
+    pince.aspirecoral(0);
   }
 
   // Returns true when the command should end.

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

@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+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

@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+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

@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Pince;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Depart extends Command {
+  private Elevateur elevateur;
+  private Pince pince;
+  /** Creates a new L2. */
+  public Depart(Elevateur elevateur, Pince pince) {
+    this.pince = pince;
+    this.elevateur = elevateur;
+    addRequirements(elevateur,pince);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(elevateur.limit2()==true){
+      elevateur.vitesse(0);
+      elevateur.reset();
+    }
+    else{
+      elevateur.vitesse(.5);
+    }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.limit2()==true;
+  }
+}

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

@@ -5,15 +5,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Requin;
+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 BalayeuseHaut extends Command {
-  private Requin requin;
-  /** Creates a new Balayeuse. */
-  public BalayeuseHaut(Requin requin) {
-    this.requin = requin;
-    addRequirements(requin);
+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.
   }
 
@@ -24,19 +24,19 @@ public class BalayeuseHaut extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.enHaut()==true){
-      requin.rotationer(0);
-      requin.reset();
+    if(pince.position()==true){
+      pince.pivote(0);
+      pince.reset();
     }
     else{
-      requin.rotationer(-0.5);
+      pince.pivote(.2);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.rotationer(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

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

@@ -0,0 +1,65 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.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

@@ -0,0 +1,63 @@
+// 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

@@ -5,18 +5,19 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Requin;
+
+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 L1Requin extends Command {
-  private Requin requin;
-  private Bougie bougie;
-  /** Creates a new Balayeuse. */
-  public L1Requin(Requin requin,Bougie bougie) {
-    this.requin = requin;
-    this.bougie = bougie;
-    addRequirements(requin,bougie);
+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.
   }
 
@@ -27,34 +28,31 @@ public class L1Requin extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    
-    if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
-      requin.rotationer(0);
-      if(requin.amp()>8){
-      requin.balaye(-0.5);
+    if(elevateur.position()>=800 && elevateur.position()<=809){
+      elevateur.vitesse(0);
     }
-        else{
-          requin.balaye(0); 
-          bougie.Rouge();
-      }
-    }
-    else if(requin.encodeur()>=810){
-    requin.rotationer(0.5);
+    else if(elevateur.position()>=810){
+      elevateur.vitesse(0.5);
     }
     else{
-      requin.rotationer(-0.5);
+      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) {
-    requin.rotationer(0);
-    requin.balaye(0);
+    elevateur.vitesse(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

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

@@ -3,21 +3,22 @@
 // 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.Requin;
+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 requin_manuel extends Command {
-  /** Creates a new requin_manuel. */
-  private Requin requin;
+public class PinceManuel extends Command {
+  private Pince pince;
   private DoubleSupplier x;
-  public requin_manuel(Requin requin) {
+  /** Creates a new PinceManuel. */
+  public PinceManuel(Pince pince, DoubleSupplier x) {
+    this.pince = pince;
+    this.x = x;
+    //this.doubleSupplier = doubleSupplier;
+    addRequirements(pince);
     // Use addRequirements() here to declare subsystem dependencies.
-    this.requin = requin;
-    addRequirements(requin);
   }
 
   // Called when the command is initially scheduled.
@@ -27,18 +28,18 @@ public class requin_manuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(requin.enHaut()){
-    requin.rotationer(0);  
-    }
-    else{
-      requin.rotationer(x.getAsDouble());
-    }
+     if(pince.position()){
+       pince.pivote(0);
+     }
+     else{
+      pince.pivote(x.getAsDouble());
+     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    requin.rotationer(0);
+    pince.pivote(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/PinceManuel2.java

@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class PinceManuel2 extends Command {
+  private Pince pince;
+  //private DoubleSupplier doubleSupplier;
+  /** Creates a new PinceManuel. */
+  public PinceManuel2(Pince pince
+   
+  //,DoubleSupplier doubleSupplier
+  ) {
+    this.pince = pince;
+   // this.doubleSupplier = doubleSupplier;
+    addRequirements(pince);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+      pince.pivote(-0.2);
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -5,18 +5,19 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Bougie;
-import frc.robot.subsystems.Requin;
+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 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(requin,bougie);
+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.
   }
 
@@ -27,36 +28,32 @@ public class BalayeuseCoral extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     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);
-        }
+    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);
     }
-     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) {
-    requin.rotationer(0);
-    requin.balaye(0);
+    pince.pivote(0);
+    pince.aspirecoral(0);
   }
 
   // Returns true when the command should end.

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

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+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

@@ -43,8 +43,7 @@ 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

@@ -0,0 +1,37 @@
+// 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

@@ -0,0 +1,61 @@
+// 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

@@ -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.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
-  }
-}