From 0b4c0e09ffe26951b76deb35fba71d0bf379ea1c Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Apr 2026 18:06:11 -0400
Subject: [PATCH 1/2] oui

---
 .../frc/robot/commands/ModeAuto/BougerDroiteAuto.java | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ModeAuto/BougerDroiteAuto.java b/src/main/java/frc/robot/commands/ModeAuto/BougerDroiteAuto.java
index 72952e7..2447477 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/BougerDroiteAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/BougerDroiteAuto.java
@@ -46,23 +46,12 @@ public class BougerDroiteAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(alliance.get() == Alliance.Blue){
       if(timer.get() < .75){
-        System.out.println("8765");
         drivetrain.setControl(drive.withVelocityY(-1.5));
       }
       else{
         drivetrain.setControl(drive.withVelocityY(0));
       }
-    }
-    else{
-      if(timer.get() < 0.75){
-        drivetrain.setControl(drive.withVelocityY(1.5));
-      }
-      else{
-        drivetrain.setControl(drive.withVelocityY(0));
-      }
-    }
   }
 
   // Called once the command ends or is interrupted.

From 27ea9d96e3256ef46d44bada1df7a2432c66851e Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Apr 2026 19:51:41 -0400
Subject: [PATCH 2/2] grimpe

---
 src/main/java/frc/robot/subsystems/Grimpeur.java | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
index 9ffd566..eb214bc 100644
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -4,6 +4,8 @@
 
 package frc.robot.subsystems;
 
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
@@ -18,13 +20,15 @@ public class Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
   SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
+  
   SparkMaxConfig slaveConfig = new SparkMaxConfig();
   DigitalInput limit = new DigitalInput(0);
     private GenericEntry EncodeurGrimpeur =
   teb.add("Position haut grimpeur", 100).getEntry();
   public void Grimper(double vitesse){
+    grimpeur1.configure(slaveConfig, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+    grimpeur2.configure(slaveConfig.follow(grimpeur1), ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
     grimpeur1.set(vitesse);
-    grimpeur2.set(vitesse);
   }
   public double Position(){
     return grimpeur1.getEncoder().getPosition();