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

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

@@ -40,6 +40,7 @@ public class Lancer extends Command {
     if(limeLight3G.getV()){}
     pidController = new PIDController(0.0007, 0,0, 0.001);
     timer.reset();
+    alliance = DriverStation.getAlliance();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -43,7 +43,9 @@ public class Limelighter extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -47,7 +47,9 @@ public class GrimperMur extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -47,7 +47,9 @@ public class GrimperReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -38,6 +38,7 @@ public class LancerAuto extends Command {
   public void initialize() {
     pidController = new PIDController(0.0007, 0, 0, 0.001);
     timer.reset();
+    alliance = DriverStation.getAlliance();
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -43,7 +43,9 @@ public class LimelighterAuto extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -37,7 +37,9 @@ public class TournerVersMur extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -37,7 +37,9 @@ public class TournerVersReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override