From a45e81349a2bd32e9315e89918d3d64682f90c94 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Tue, 10 Mar 2026 18:58:34 -0400
Subject: [PATCH] pivot balayeuse et grimpeur fait

---
 src/main/java/frc/robot/commands/DescendreBalyeuse.java | 5 ++++-
 src/main/java/frc/robot/commands/DescendreGrimpeur.java | 2 +-
 src/main/java/frc/robot/commands/MonterGrimpeur.java    | 9 +++++++--
 src/main/java/frc/robot/subsystems/Balayeuse.java       | 2 +-
 src/main/java/frc/robot/subsystems/Grimpeur.java        | 2 +-
 5 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/commands/DescendreBalyeuse.java b/src/main/java/frc/robot/commands/DescendreBalyeuse.java
index aae6efd..d7decb4 100644
--- a/src/main/java/frc/robot/commands/DescendreBalyeuse.java
+++ b/src/main/java/frc/robot/commands/DescendreBalyeuse.java
@@ -24,9 +24,12 @@ public class DescendreBalyeuse extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(balayeuse.Distance() < balayeuse.EncodeurBalayeuse()){
+    if(Math.abs(balayeuse.Distance()) < balayeuse.EncodeurBalayeuse()){
       balayeuse.Pivoter(-0.2);
     }
+    else{
+      balayeuse.Pivoter(0);
+    }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/DescendreGrimpeur.java b/src/main/java/frc/robot/commands/DescendreGrimpeur.java
index 87e2882..ed4ea9e 100644
--- a/src/main/java/frc/robot/commands/DescendreGrimpeur.java
+++ b/src/main/java/frc/robot/commands/DescendreGrimpeur.java
@@ -24,7 +24,7 @@ public class DescendreGrimpeur extends Command {
   @Override
   public void execute() {
     if(!grimpeur.Limit()){
-      grimpeur.Grimper(-0.5);
+      grimpeur.Grimper(-0.2);
     }
     else{
       grimpeur.Reset();
diff --git a/src/main/java/frc/robot/commands/MonterGrimpeur.java b/src/main/java/frc/robot/commands/MonterGrimpeur.java
index 89e181f..995ac37 100644
--- a/src/main/java/frc/robot/commands/MonterGrimpeur.java
+++ b/src/main/java/frc/robot/commands/MonterGrimpeur.java
@@ -23,8 +23,13 @@ public class MonterGrimpeur extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.Position() < grimpeur.PositionFinal()){
-      grimpeur.Grimper(0.5);
+    
+    if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){
+      grimpeur.Grimper(0.2);
+      System.out.println("monte");
+    }
+    else {
+      grimpeur.Grimper(0);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/Balayeuse.java b/src/main/java/frc/robot/subsystems/Balayeuse.java
index b14cd0a..a3fc48e 100644
--- a/src/main/java/frc/robot/subsystems/Balayeuse.java
+++ b/src/main/java/frc/robot/subsystems/Balayeuse.java
@@ -39,7 +39,7 @@ public class Balayeuse extends SubsystemBase {
     Pivot.getEncoder().setPosition(0);
   }
   public boolean GetLimiSwtich(){
-    return limit.get();
+    return !limit.get();
   }
   public double Amp(){
     return Balaye2.getOutputCurrent();
diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
index 5d50e46..7826ae8 100644
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
-  SparkMax grimpeur2 = new SparkMax(4,MotorType.kBrushless);
+  SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
   SparkMaxConfig slaveConfig = new SparkMaxConfig();
   DigitalInput limit = new DigitalInput(0);
     private GenericEntry EncodeurGrimpeur =