From b9cac9ee360b88f7ce7ac495ff140d063a2ed189 Mon Sep 17 00:00:00 2001
From: Samuel <2540638@etudiant.cegepvicto.com>
Date: Tue, 24 Feb 2026 18:55:48 -0500
Subject: [PATCH] mode oppose fait

---
 src/main/java/frc/robot/RobotContainer.java   |  2 ++
 src/main/java/frc/robot/commands/Lancer.java  |  3 +-
 .../{LancerOposer.java => ModeOposer.java}    | 29 ++++---------------
 .../java/frc/robot/subsystems/Balayeuse.java  |  1 -
 src/main/java/frc/robot/subsystems/Led.java   |  2 --
 5 files changed, 10 insertions(+), 27 deletions(-)
 rename src/main/java/frc/robot/commands/{LancerOposer.java => ModeOposer.java} (62%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3dc5b34..4ab327e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -12,6 +12,7 @@ import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
 import frc.robot.commands.Lancer;
+import frc.robot.commands.ModeOposer;
 import frc.robot.commands.MonterBalyeuse;
 import frc.robot.commands.MonterGrimpeur;
 import frc.robot.subsystems.Balayeuse;
@@ -34,6 +35,7 @@ public class RobotContainer {
 
   private void configureBindings() {
     manette.a().whileTrue(new Lancer(lanceur,limeLight3,balayeuse,led));
+    manette.y().whileTrue(new ModeOposer(lanceur, balayeuse));
     manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));
     manette.leftTrigger().whileTrue(new DescendreGrimpeur(grimpeur));
     manette.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
diff --git a/src/main/java/frc/robot/commands/Lancer.java b/src/main/java/frc/robot/commands/Lancer.java
index 1c32190..d3816b0 100644
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -29,7 +29,7 @@ public class Lancer extends Command {
     this.led = led;
     this.timer = new Timer();
     this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur);
+    addRequirements(lanceur, balayeuse, led, limeLight3G);
     this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -62,6 +62,7 @@ public class Lancer extends Command {
     if(moyenneAmp > 30 && nbFois > 10){
       timer.reset();
       balayeuse.Balayer(0.5);
+      led.Jaune2();
     }
     else{
       double vitesse = (100-limeLight3G.getTA())/lanceur.Vitesse();
diff --git a/src/main/java/frc/robot/commands/LancerOposer.java b/src/main/java/frc/robot/commands/ModeOposer.java
similarity index 62%
rename from src/main/java/frc/robot/commands/LancerOposer.java
rename to src/main/java/frc/robot/commands/ModeOposer.java
index 4c129c6..068afc8 100644
--- a/src/main/java/frc/robot/commands/LancerOposer.java
+++ b/src/main/java/frc/robot/commands/ModeOposer.java
@@ -4,43 +4,24 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
-import frc.robot.subsystems.LimeLight3;
-import frc.robot.subsystems.Limelight3G;
-
 /* 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 LancerOposer extends Command {
+public class ModeOposer extends Command {
   private Lanceur lanceur;
-  private PIDController pidController;
-  private Limelight3G limeLight3G;
-  private Timer timer;
   private Balayeuse balayeuse;
-  private Led led;
-  private double temp;
   /** Creates a new Lancer. */
-  public LancerOposer(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
+  public ModeOposer(Lanceur lanceur, Balayeuse balayeuse) {
     this.lanceur = lanceur;
     this.balayeuse = balayeuse;
-    this.led = led;
-    this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur);
-    this.temp = 0;
+    addRequirements(lanceur ,balayeuse);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    pidController = new PIDController(0, 0,0, 0);
-    timer.reset();
-    timer.start();
-    temp = lanceur.Amp();    
+  public void initialize() {  
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -48,6 +29,7 @@ public class LancerOposer extends Command {
   public void execute() {
     lanceur.Lancer(-0.2);
     lanceur.Demeler(-0.2);
+    balayeuse.Balayer(-0.2);
   }
 
   // Called once the command ends or is interrupted.
@@ -55,6 +37,7 @@ public class LancerOposer extends Command {
   public void end(boolean interrupted) {
     lanceur.Demeler(0);
     lanceur.Lancer(0);
+    balayeuse.Balayer(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/subsystems/Balayeuse.java b/src/main/java/frc/robot/subsystems/Balayeuse.java
index 141dbe2..d0ffb4e 100644
--- a/src/main/java/frc/robot/subsystems/Balayeuse.java
+++ b/src/main/java/frc/robot/subsystems/Balayeuse.java
@@ -9,7 +9,6 @@ import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
diff --git a/src/main/java/frc/robot/subsystems/Led.java b/src/main/java/frc/robot/subsystems/Led.java
index 533a8ae..4885a13 100644
--- a/src/main/java/frc/robot/subsystems/Led.java
+++ b/src/main/java/frc/robot/subsystems/Led.java
@@ -4,8 +4,6 @@
 
 package frc.robot.subsystems;
 
-import java.util.Optional;
-
 import com.ctre.phoenix.led.CANdle;
 import com.ctre.phoenix.led.RainbowAnimation;