Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

simgui-ds.json

@@ -1,4 +1,14 @@
 {
+  "FMS": {
+    "window": {
+      "visible": false
+    }
+  },
+  "System Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [

simgui.json

@@ -4,6 +4,21 @@
       "window": {
         "visible": true
       }
+    },
+    "Solenoids": {
+      "0": {
+        "header": {
+          "open": true
+        }
+      },
+      "window": {
+        "visible": true
+      }
+    },
+    "Timing": {
+      "window": {
+        "visible": false
+      }
     }
   },
   "NTProvider": {
@@ -14,6 +29,11 @@
       "/SmartDashboard/Pigeon IMU [0]": "Gyro"
     },
     "windows": {
+      "/Shuffleboard/dashboard/autochooser": {
+        "window": {
+          "visible": true
+        }
+      },
       "/SmartDashboard/Field": {
         "bottom": 1476,
         "height": 8.210550308227539,
@@ -37,6 +57,9 @@
       }
     }
   },
+  "NetworkTables Info": {
+    "visible": true
+  },
   "NetworkTables View": {
     "visible": false
   },

src/main/deploy/pathplanner/autos/1.2.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/1.3.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/1.4.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/1.5.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }
@@ -65,17 +65,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/2.2.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/2.3.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/2.4.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/2.5.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }
@@ -65,17 +65,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/3.1.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/3.2.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/3.3.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/3.4.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/3.5.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -65,17 +65,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/4.1.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/4.2.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/4.3.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/4.4.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/4.5.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/5.1.auto

@@ -16,9 +16,11 @@
           "data": {
             "commands": [
               {
-                "type": "deadline",
+                "type": "wait",
                 "data": {
-                  "commands": [
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "named",
                 "data": {
@@ -27,15 +29,6 @@
               }
             ]
           }
-              },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 3.0
-                }
-              }
-            ]
-          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/5.2.auto

@@ -16,9 +16,11 @@
           "data": {
             "commands": [
               {
-                "type": "deadline",
+                "type": "wait",
                 "data": {
-                  "commands": [
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "named",
                 "data": {
@@ -28,15 +30,6 @@
             ]
           }
         },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 3.0
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "path",
           "data": {

src/main/deploy/pathplanner/autos/5.3.auto

@@ -16,9 +16,11 @@
           "data": {
             "commands": [
               {
-                "type": "deadline",
+                "type": "wait",
                 "data": {
-                  "commands": [
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "named",
                 "data": {
@@ -28,15 +30,6 @@
             ]
           }
         },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 3.0
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -47,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/5.5.auto

@@ -16,9 +16,11 @@
           "data": {
             "commands": [
               {
-                "type": "deadline",
+                "type": "wait",
                 "data": {
-                  "commands": [
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "named",
                 "data": {
@@ -28,15 +30,6 @@
             ]
           }
         },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 3.0
-                }
-              }
-            ]
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -47,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }
@@ -72,17 +65,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/6.1.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/6.2.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/6.3.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/6.4.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }

src/main/deploy/pathplanner/autos/6.5.auto

@@ -15,17 +15,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }
@@ -40,17 +40,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "balyer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "balyer"
+                }
               }
             ]
           }
@@ -65,17 +65,17 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "lancer"
-                }
-              },
               {
                 "type": "wait",
                 "data": {
                   "waitTime": 3.0
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
               }
             ]
           }

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

@@ -23,8 +23,9 @@ import edu.wpi.first.wpilibj2.command.WaitCommand;
 // Manettes
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.command.AllumeLED;
+
 // Commands
+import frc.robot.command.AllumeLED;
 import frc.robot.command.Balayer;
 import frc.robot.command.GrimpeurDroit;
 import frc.robot.command.GrimpeurGauche;
@@ -70,8 +71,13 @@ public class RobotContainer {
   LancerNote lancernote = new LancerNote(lanceur, accumulateur);
   Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
    GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
+<<<<<<< HEAD
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
   AllumeLED allumeLED = new AllumeLED(LED,accumulateur);
+=======
+  GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightX);
+  AllumeLED allumeLED = new AllumeLED(LED, accumulateur); 
+>>>>>>> 7a37782ca19fb71cb842174cd8fcd536eda825a9
   Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
   public RobotContainer() {
     dashboard.addCamera("limelight", "limelight","limelight.local:5800");
@@ -92,8 +98,10 @@ public class RobotContainer {
      drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
     },drive));
     grimpeur.setDefaultCommand(new RunCommand(()->{
-      grimpeur.droit(manette.getLeftX());}
+      grimpeur.droit(manette.getLeftX());
+    grimpeur.gauche(manette.getRightX());}
       ,grimpeur));
+
       LED.setDefaultCommand(allumeLED);
       dashboard.add("autochooser",autoChooser)
       .withSize(2,1)

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

@@ -45,7 +45,7 @@ public class GrimpeurDroit extends Command {
   else{
     grimpeur.droit(0);
   }
-  if(grimpeur.encoderd()>0){
+  if(grimpeur.encoderd()>1){
     grimpeur.resetencodeurd();
     grimpeur.droit(0);
     

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

@@ -44,7 +44,7 @@ public class GrimpeurGauche extends Command {
     else{
       grimpeur.gauche(0);
     }
-    if(grimpeur.encoderd()>0){
+    if(grimpeur.encoderd()>1){
       grimpeur.resetencodeurg();
       grimpeur.gauche(0);
       

src/main/java/frc/robot/subsystem/Grimpeur.java

@@ -10,14 +10,12 @@ import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -33,14 +31,11 @@ public class Grimpeur extends SubsystemBase {
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
   // limit switch
-  final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
-  final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
   final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
   final Solenoid pistondgauche = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre);
   //fonction
   public Grimpeur() {
-    layout.addBoolean("limitgrimpeurd", limitdroite::get);
+    pistonouvre();
-    layout.addBoolean("limitgrimpeurg", limitdroite::get);
     layout.add("grimpeurencodeurd", encoderd());
     layout.add("grimpeurencodeurg", encoderg());
     layout.add("pitchgyrogrimpeur", getpitch());
@@ -51,12 +46,6 @@ public void droit(double vitesse){
 public void gauche(double vitesse){
   grimpeurg.set(vitesse);
 } 
-public boolean droite(){
-  return limitdroite.get();
-}
-public boolean gauche(){
-  return limitgauche.get();
-}
 public void resetencodeurd(){
   grimpeurd.getEncoder().setPosition(0);
 }
@@ -84,14 +73,10 @@ public AHRS gyroscope = new AHRS();
   public boolean piston(){
     return pistondgauche.get();
   }
+
  @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    if(droite()) {
-      resetencodeurd();
-    }
-    if(gauche()) {
-      resetencodeurg();
-    }
   }
 }
+

src/main/java/frc/robot/subsystem/Limelight.java

@@ -16,7 +16,6 @@ public class Limelight extends SubsystemBase {
 
   NetworkTableEntry tx = table.getEntry("tx");
   NetworkTableEntry ty = table.getEntry("ty");
-  NetworkTableEntry ta = table.getEntry("ta");
   NetworkTableEntry pipeline = table.getEntry("pipeline");
   NetworkTableEntry tv = table.getEntry("tv");
   NetworkTableEntry camMode = table.getEntry("camMode");
@@ -33,9 +32,6 @@ public class Limelight extends SubsystemBase {
   public double gety(){
     return ty.getDouble(0);
   }
- /* public double geta() {
-    return ta.getDouble(0);
-  }*/
   public boolean getv(){
     return tv.getBoolean(false);
   }