Grattedebug

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

@@ -28,7 +28,9 @@ public class ActiverLimeLight extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    limelight.joueurhumain1();
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -20,23 +20,23 @@ public class GratteBaisser extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-  gratte.setenHaut(false);
+ 
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     if(gratte.basd()){
-      gratte.baiserd(0);
+      gratte.bougerd(0);
     }
     else{
-      gratte.baiserd(0.5);
+      gratte.bougerd(0.3);
     }
     if(gratte.basg()){
-      gratte.baiserg(0);
+      gratte.bougerg(0);
     }
     else{
-      gratte.baiserg(0.5);
+      gratte.bougerg(0.3);
     }
    
 
@@ -45,8 +45,8 @@ public class GratteBaisser extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    gratte.baiserd(0);
-    gratte.baiserg(0);
+    gratte.bougerd(0);
+    gratte.bougerg(0);
   }
 
   // Returns true when the command should end.

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

@@ -20,31 +20,30 @@ public class GratteMonte extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    gratte.setenHaut(true);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     if(gratte.hautd()){
-      gratte.Leverd(0);
+      gratte.bougerd(0);
     }
     else{
-      gratte.Leverd(0.5);
+      gratte.bougerd(-0.3);
     }
     if(gratte.hautg()) {
-      gratte.Leverg(0);
+      gratte.bougerg(0);
     }
     else{
-      gratte.Leverg(0.5);
+      gratte.bougerg(-0.3);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    gratte.Leverd(0);
-    gratte.Leverg(0);
+    gratte.bougerd(0);
+    gratte.bougerg(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/bras/DescendrePivotBras.java

@@ -18,8 +18,10 @@ public class DescendrePivotBras extends SequentialCommandGroup {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
+      
       new Bougerbras(brasTelescopique, distanceBras),
       new Bougerpivot(pivot, distancePivot)
+      
     );
   }
 }

src/main/java/frc/robot/commands/bras/MonterPivotBras.java

@@ -4,7 +4,7 @@
 
 package frc.robot.commands.bras;
 
-import edu.wpi.first.wpilibj2.command.Commands;
+
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.subsystems.bras.BrasTelescopique;
@@ -13,15 +13,17 @@ import frc.robot.subsystems.bras.Pivot;
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
-public class MonterPivotBras extends ParallelCommandGroup {
+public class MonterPivotBras extends SequentialCommandGroup {
   /** Creates a new Sequancepivotbras. */
   public MonterPivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot) {
 
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
-      new SequentialCommandGroup(Commands.waitUntil(()->pivot.distance()>8),new Bougerbras(brasTelescopique, distanceBras)), 
-      new Bougerpivot(pivot, distancePivot)
+      new Bougerpivot(pivot, 10).unless(()->pivot.distance()>10),
+      new ParallelCommandGroup(new Bougerpivot(pivot, distancePivot)),
+      new ParallelCommandGroup(new Bougerbras(brasTelescopique, distanceBras))
+      
       
     );
   }

src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java

@@ -29,11 +29,11 @@ public class PivoteBrasMilieux extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-12.5){
+    if(brasTelescopique.distance()>-11){
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-13.5) {
+  else if(brasTelescopique.distance()<-13) {
     brasTelescopique.AvanceRecule(0.15);
     }
     else {