Pathplanner sans le drivetrain

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

@@ -17,7 +17,13 @@
               {
                 "type": "named",
                 "data": {
-                  "name": null
+                  "name": "DescendreBalayeuse"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
                 }
               }
             ]
@@ -32,13 +38,13 @@
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Limelighter"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Lancer"
           }
         }
       ]

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

@@ -17,7 +17,13 @@
               {
                 "type": "named",
                 "data": {
-                  "name": null
+                  "name": "DescendreBalayeuse"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
                 }
               }
             ]
@@ -32,19 +38,19 @@
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Limelighter"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Lancer"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "TournerA180"
           }
         },
         {
@@ -56,13 +62,25 @@
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "GrimperMur"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "MonterGrimpeur"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MonterMur"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreGrimpeur"
           }
         }
       ]

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

@@ -17,7 +17,13 @@
               {
                 "type": "named",
                 "data": {
-                  "name": null
+                  "name": "DescendreBalayeuse"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
                 }
               }
             ]
@@ -32,19 +38,19 @@
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Limelighter"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Lancer"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "TournerAZero"
           }
         },
         {
@@ -56,13 +62,25 @@
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "GrimperReservoir"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "MonterGrimpeur"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MonterReservoir"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreGrimpeur"
           }
         }
       ]

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

@@ -0,0 +1,56 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "ChercherMilieuDroite"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "DescendreBalayeuse"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "RetourMilieuDroite"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Limelighter"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Lancer"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Milieu",
+  "choreoAuto": false
+}

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

@@ -0,0 +1,62 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "ChercherMilieuDroiteProche"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "DescendreBalayeuse"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PartirMilieuDroiteProche"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "RetourMilieuDroite"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Limelighter"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Lancer"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Milieu",
+  "choreoAuto": false
+}

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

@@ -0,0 +1,56 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "ChercherMilieuGauche"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "DescendreBalayeuse"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "RetourMilieuGauche"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Limelighter"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Lancer"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Milieu",
+  "choreoAuto": false
+}

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

@@ -0,0 +1,62 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "ChercherMilieuGaucheProche"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "DescendreBalayeuse"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PartirMilieuGaucheProche"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "RetourMilieuGauche"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Limelighter"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Lancer"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Milieu",
+  "choreoAuto": false
+}

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

@@ -13,13 +13,13 @@
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Limelighter"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": null
+            "name": "Lancer"
           }
         }
       ]

src/main/deploy/pathplanner/paths/ChercherMilieuDroite.path

@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.026,
+        "y": 0.685
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.399509272467903,
+        "y": 0.7238159771754633
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.295877318116975,
+        "y": 1.238
+      },
+      "prevControl": {
+        "x": 8.295877318116975,
+        "y": 0.48503351833476316
+      },
+      "nextControl": {
+        "x": 8.295877318116975,
+        "y": 2.0013808844507857
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.295877318116975,
+        "y": 3.322
+      },
+      "prevControl": {
+        "x": 8.295877318116975,
+        "y": 2.2023305396701525
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7420042643923158,
+      "rotationDegrees": 90.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "reversed": false,
+  "folder": "Milieu",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/ChercherMilieuDroiteProche.path

@@ -0,0 +1,89 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.000242510699001,
+        "y": 0.6515406562054205
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.772958630527817,
+        "y": 0.6310199714693305
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
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+        "y": 1.2725962910128386
+      },
+      "prevControl": {
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+        "y": 0.5196298093476017
+      },
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+        "x": 6.0057346647646215,
+        "y": 2.0359771754636244
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.8,
+        "y": 3.322
+      },
+      "prevControl": {
+        "x": 5.8,
+        "y": 2.2023305396701525
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7420042643923158,
+      "rotationDegrees": 90.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.7292370020256648,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "reversed": false,
+  "folder": "Milieu",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/ChercherMilieuGauche.path

@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.026119828815976,
+        "y": 7.314950071326677
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.399629101283878,
+        "y": 7.35376604850214
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.295877318116975,
+        "y": 6.771526390870186
+      },
+      "prevControl": {
+        "x": 8.295877318116975,
+        "y": 7.524492872535423
+      },
+      "nextControl": {
+        "x": 8.295877318116975,
+        "y": 6.0081455064194005
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.295877318116975,
+        "y": 4.688402282453637
+      },
+      "prevControl": {
+        "x": 8.32422939366089,
+        "y": 5.807712722058167
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7420042643923158,
+      "rotationDegrees": -90.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": "Milieu",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/ChercherMilieuGaucheProche.path

@@ -0,0 +1,89 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.064935805991441,
+        "y": 7.392582025677603
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.617574893009986,
+        "y": 7.314950071326676
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.915164051355206,
+        "y": 6.758587731811698
+      },
+      "prevControl": {
+        "x": 5.915164051355206,
+        "y": 7.511554213476935
+      },
+      "nextControl": {
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+        "y": 5.995206847360913
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.8,
+        "y": 4.688402282453637
+      },
+      "prevControl": {
+        "x": 5.828352075543914,
+        "y": 5.807712722058167
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7420042643923158,
+      "rotationDegrees": -90.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.8426738690074239,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": "Milieu",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/MonterMur.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.0761055634807417,
+        "y": 4.85660485021398
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.8292699165532256,
+        "y": 4.81695433438033
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.0761055634807417,
+        "y": 4.623708987161199
+      },
+      "prevControl": {
+        "x": 1.3604504533921022,
+        "y": 4.6356950204744996
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/MonterReservoir.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.0502282453637657,
+        "y": 2.4758915834522113
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.0408884389937225,
+        "y": 2.742159765250622
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.0502282453637657,
+        "y": 2.7734807417974334
+      },
+      "prevControl": {
+        "x": 1.0547546338516156,
+        "y": 2.523521721541598
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
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+  "goalEndState": {
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+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/PartirMilieuDroiteProche.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.8,
+        "y": 3.322
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.486128029253273,
+        "y": 1.6749552651197097
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+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.820870185449357,
+        "y": 0.8714978601997154
+      },
+      "prevControl": {
+        "x": 6.300963707518119,
+        "y": 2.122306196505451
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Milieu",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/PartirMilieuGaucheProche.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.8,
+        "y": 4.688402282453637
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.22710768166824,
+        "y": 6.07993837753099
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.963195435092723,
+        "y": 6.913851640513553
+      },
+      "prevControl": {
+        "x": 6.833040037863721,
+        "y": 6.563509208473397
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Milieu",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,36 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "Milieu"
+  ],
+  "autoFolders": [
+    "Milieu"
+  ],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}

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

@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.auto.NamedCommands;
+
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -13,9 +15,18 @@ import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
 import frc.robot.commands.Lancer;
 import frc.robot.commands.LancerBaseVitesse;
+import frc.robot.commands.Limelighter;
 import frc.robot.commands.ModeOposer;
 import frc.robot.commands.MonterBalyeuse;
 import frc.robot.commands.MonterGrimpeur;
+import frc.robot.commands.ModeAuto.AspirerAuto;
+import frc.robot.commands.ModeAuto.GrimperMur;
+import frc.robot.commands.ModeAuto.GrimperReservoir;
+import frc.robot.commands.ModeAuto.LancerAuto;
+import frc.robot.commands.ModeAuto.RetourMilieuDroite;
+import frc.robot.commands.ModeAuto.RetourMilieuGauche;
+import frc.robot.commands.ModeAuto.TournerA180;
+import frc.robot.commands.ModeAuto.TournerAZero;
 import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Lanceur;
@@ -32,6 +43,18 @@ public class RobotContainer {
   public RobotContainer() {
     CameraServer.startAutomaticCapture();
     configureBindings();
+    NamedCommands.registerCommand("GrimperMur", new GrimperMur());
+    NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir());
+    NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur));
+    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite());
+    NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche());
+    NamedCommands.registerCommand("Limelighter", new Limelighter());
+    NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
+    NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
+    NamedCommands.registerCommand("TournerAZero", new TournerAZero());
+    NamedCommands.registerCommand("TournerA180", new TournerA180());
+    NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
+    NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
   }
 
   private void configureBindings() {

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

@@ -0,0 +1,33 @@
+// 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;
+
+/* 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 Limelighter extends Command {
+  /** Creates a new Limelighter. */
+  public Limelighter() {
+    // 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() {}
+
+  // 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/commands/ModeAuto/AspirerAuto.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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+
+/* 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 AspirerAuto extends Command {
+  Balayeuse balayeuse;
+  /** Creates a new AspirerAuto. */
+  public AspirerAuto(Balayeuse balayeuse) {
+    this.balayeuse = balayeuse;
+    addRequirements(balayeuse);
+    // 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() {
+    balayeuse.Balayer(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.Balayer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 GrimperReservoir extends Command {
+  /** Creates a new GrimperReservoir. */
+  public GrimperReservoir() {
+    // 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() {}
+
+  // 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/commands/ModeAuto/LancerAuto.java

@@ -0,0 +1,46 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Lanceur;
+
+/* 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 LancerAuto extends Command {
+  Lanceur lanceur;
+  Timer timer;
+  /** Creates a new LancerAuto. */
+  public LancerAuto(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    lanceur.Lancer(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Lancer(0);
+    timer.reset();
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 3;
+  }
+}

src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 RetourMilieuDroite extends Command {
+  /** Creates a new RetourMilieu. */
+  public RetourMilieuDroite() {
+    // 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() {}
+
+  // 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/commands/ModeAuto/RetourMilieuGauche.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 RetourMilieuGauche extends Command {
+  /** Creates a new RetourMilieuGauche. */
+  public RetourMilieuGauche() {
+    // 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() {}
+
+  // 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/commands/ModeAuto/TournerA180.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 TournerA180 extends Command {
+  /** Creates a new TournerA180. */
+  public TournerA180() {
+    // 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() {}
+
+  // 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/commands/ModeAuto/TournerAZero.java

@@ -0,0 +1,33 @@
+// 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.ModeAuto;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/* 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 TournerAZero extends Command {
+  /** Creates a new TournerAZero. */
+  public TournerAZero() {
+    // 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() {}
+
+  // 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;
+  }
+}