From 11f6bae2e576cfd6fbae324d056e95204e332813 Mon Sep 17 00:00:00 2001
From: Samuel <2540638@etudiant.cegepvicto.com>
Date: Tue, 24 Feb 2026 19:18:38 -0500
Subject: [PATCH] =?UTF-8?q?ampr=C3=A9age=20dans=20le=20dashbord?=
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---
 src/main/java/frc/robot/commands/Aspirer.java     | 2 +-
 src/main/java/frc/robot/commands/Lancer.java      | 2 +-
 src/main/java/frc/robot/subsystems/Balayeuse.java | 5 +++++
 src/main/java/frc/robot/subsystems/Lanceur.java   | 5 +++++
 4 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Aspirer.java b/src/main/java/frc/robot/commands/Aspirer.java
index 88ba264..69296de 100644
--- a/src/main/java/frc/robot/commands/Aspirer.java
+++ b/src/main/java/frc/robot/commands/Aspirer.java
@@ -48,7 +48,7 @@ public class Aspirer extends Command {
       moyenneAmp += balayeuse.Amp() / nbFois;
       temp = balayeuse.Amp();
     }
-    if(moyenneAmp < 40){
+    if(moyenneAmp < balayeuse.AmpMax()){
       timer.reset();
       balayeuse.Balayer(0.5);
     }
diff --git a/src/main/java/frc/robot/commands/Lancer.java b/src/main/java/frc/robot/commands/Lancer.java
index d3816b0..cc19ef5 100644
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -59,7 +59,7 @@ public class Lancer extends Command {
       moyenneAmp += balayeuse.Amp() / nbFois;
       temp = balayeuse.Amp();
     }
-    if(moyenneAmp > 30 && nbFois > 10){
+    if(moyenneAmp > lanceur.AmpBas() && nbFois > 10){
       timer.reset();
       balayeuse.Balayer(0.5);
       led.Jaune2();
diff --git a/src/main/java/frc/robot/subsystems/Balayeuse.java b/src/main/java/frc/robot/subsystems/Balayeuse.java
index d0ffb4e..85eb747 100644
--- a/src/main/java/frc/robot/subsystems/Balayeuse.java
+++ b/src/main/java/frc/robot/subsystems/Balayeuse.java
@@ -23,6 +23,8 @@ public class Balayeuse extends SubsystemBase {
   DigitalInput limit = new DigitalInput(0);
   private GenericEntry EncodeurBalayeuse =
   teb.add("Position bas balayeuse", 10).getEntry();
+  private GenericEntry AmpBaleyeuse =
+  teb.add("Ampérage Baleyeuse", 40).getEntry();
   public void Balayer(double vitesse){
     Balaye1.set(vitesse);
     Balaye2.set(vitesse);
@@ -42,6 +44,9 @@ public class Balayeuse extends SubsystemBase {
   public double Amp(){
     return Balaye2.getOutputCurrent();
   }
+  public double AmpMax(){
+    return AmpBaleyeuse.getDouble(40);
+  }
   public void Temps(){
     Timer timer = new Timer();
     timer.start();
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index cd50440..eac8add 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -19,6 +19,8 @@ public class Lanceur extends SubsystemBase {
   SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
   GenericEntry vitesse = 
   teb.add("vitesse lanceur",100).getEntry();
+  GenericEntry AmpLanceur = 
+  teb.add("ampérage lanceur",30).getEntry();
   public void Lancer(double vitesse){
     moteur1.set(vitesse);
     moteur2.set(-vitesse);
@@ -32,6 +34,9 @@ public class Lanceur extends SubsystemBase {
   public double Amp(){
     return moteur1.getOutputCurrent();
   }
+  public double AmpBas(){
+    return AmpLanceur.getDouble(30);
+  }
   public double vitesseDemander(){
     return vitesse.getDouble(100);
   }