Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

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

@@ -1,37 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TirerSimple"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "DescendreBalayeuse"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Limelighter"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Lancer"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

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

@@ -4,49 +4,18 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "tirgrimpe1"
+          }
+        },
         {
           "type": "named",
           "data": {
             "name": "DescendreBalayeuse"
           }
         },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 3.0
-                }
-              },
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Depot"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "Aspirer"
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Tir"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Limelighter"
-          }
-        },
         {
           "type": "deadline",
           "data": {
@@ -66,12 +35,6 @@
             ]
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "GrimperReservoir"
-          }
-        },
         {
           "type": "named",
           "data": {

src/main/deploy/pathplanner/paths/tirgrimpe1.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5991440798858774,
+        "y": 2.3465049928673327
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.589928673323822,
+        "y": 1.7513266761768898
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8783024251069897,
+        "y": 2.3465049928673327
+      },
+      "prevControl": {
+        "x": 2.706376604850214,
+        "y": 1.7125106990014274
+      },
+      "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": 33.11134196037204
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -24,18 +24,21 @@ public class DescendreGrimpeur extends Command {
   @Override
   public void execute() {
     if(!grimpeur.Limit()){
-      grimpeur.Grimper(-0.4);
+      grimpeur.GrimperGauche(-0.4);
+      grimpeur.GrimperDroit(-0.4);
     }
     else{
       grimpeur.Reset();
-      grimpeur.Grimper(0);
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
   }
 
   // Returns true when the command should end.

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

@@ -25,18 +25,21 @@ public class MonterGrimpeur extends Command {
   public void execute() {
     
     if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){
-      grimpeur.Grimper(0.5);
+      grimpeur.GrimperGauche(0.5);
+      grimpeur.GrimperDroit(0.5);
       System.out.println("monte");
     }
     else {
-      grimpeur.Grimper(0);
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/subsystems/Grimpeur.java

@@ -29,6 +29,9 @@ public class Grimpeur extends SubsystemBase {
     grimpeur1.configure(slaveConfig, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
     grimpeur2.configure(slaveConfig.follow(grimpeur1), ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
     grimpeur1.set(vitesse);
+  }
+    public void GrimperGauche(double vitesse){
+    grimpeur1.set(vitesse);
   }
   public double Position(){
     return grimpeur1.getEncoder().getPosition();

src/main/java/frc/robot/subsystems/LEDSubsystem.java

@@ -20,6 +20,7 @@ import com.ctre.phoenix6.signals.RGBWColor;
  */
 public class LEDSubsystem extends SubsystemBase {
     Timer _timer;
+    boolean q = true;
     ShuffleboardTab teb = Shuffleboard.getTab("teb");
      private GenericEntry equipe = 
     teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();  
@@ -39,7 +40,8 @@ public class LEDSubsystem extends SubsystemBase {
         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
     }
     public void Flash(boolean couleur){
-        if(_timer.get() <0.5){
+        Timer timer = new Timer();
+        if(timer.get() <0.5){
             if(couleur){
                 Bleu();
             }
@@ -49,13 +51,12 @@ public class LEDSubsystem extends SubsystemBase {
         }
         else{
             Noir();
-            _timer.reset();
+            timer.reset();
         }
     }
     public LEDSubsystem() {
         setDefaultCommand(updateLEDs());
         _timer = new Timer();
-        _timer.reset();
         _timer.start();
     }
     public boolean Equipe(){
@@ -67,39 +68,43 @@ public class LEDSubsystem extends SubsystemBase {
      * @return Command to run
      */
     public Command updateLEDs() {
-        double temps = DriverStation.getMatchTime();
-        System.out.println(temps);
         return run(() -> {
+        //    if(q){
+        //         _timer.reset();
+        //         q = false;
+        //    }
+            double temps = _timer.get();
+            System.out.println(temps);
             if(Equipe()){
-                if(temps > 110){
+                if(temps > 30){
                     Vert();
                 }
-                else if(temps > 88){
+                else if(temps > 52){
                     
                     Bleu();
                 }
-                else if(temps > 85){
+                else if(temps > 55){
                     Flash(true);
                 }
-                else if(temps > 63){
+                else if(temps > 67){
                     Rouge();
                 }
-                else if(temps  > 60){
+                else if(temps  > 70){
                     Flash(false);
                 }
-                else if(temps > 33){
+                else if(temps > 103){
                     Bleu();
                 }
-                else if(temps  > 30){
+                else if(temps  > 105){
                     Flash(true);
                 }
-                else if(temps > 13){
+                else if(temps > 127){
                     Rouge();
                 }
-                else if(temps > 10){
+                else if(temps > 130){
                     Flash(false);
                 }
-                else if(temps < 10){
+                else if(temps < 140){
                     Vert();
                 }
             }
@@ -136,6 +141,8 @@ public class LEDSubsystem extends SubsystemBase {
                     Vert();
                 }
             }
+            // _timer.stop();
+            
         });
     }
 }