competiton

simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [

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

@@ -14,6 +14,12 @@
           "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -36,21 +42,22 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Limelighter"
+            "commands": [
-          }
+              {
-        },
+                "type": "named",
-        {
+                "data": {
-          "type": "named",
+                  "name": "Lancer"
-          "data": {
+                }
-            "name": "Lancer"
+              },
-          }
+              {
-        },
+                "type": "named",
-        {
+                "data": {
-          "type": "named",
+                  "name": "Aspirer"
-          "data": {
+                }
-            "name": "TournerAZero"
+              }
+            ]
           }
         },
         {
@@ -72,9 +79,9 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "MonterReservoir"
+            "name": "gauche"
           }
         },
         {

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

@@ -35,12 +35,6 @@
             "pathName": "Tir"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "Limelighter"
-          }
-        },
         {
           "type": "named",
           "data": {

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

@@ -14,6 +14,12 @@
           "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -36,21 +42,22 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Limelighter"
+            "commands": [
-          }
+              {
-        },
+                "type": "named",
-        {
+                "data": {
-          "type": "named",
+                  "name": "Lancer"
-          "data": {
+                }
-            "name": "Lancer"
+              },
-          }
+              {
-        },
+                "type": "named",
-        {
+                "data": {
-          "type": "named",
+                  "name": "Aspirer"
-          "data": {
+                }
-            "name": "TournerA180"
+              }
+            ]
           }
         },
         {
@@ -72,9 +79,9 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "MonterMur"
+            "name": "droite"
           }
         },
         {

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

@@ -0,0 +1,68 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "tirgrimpe1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Lancer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "GrimperReservoir"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "MonterGrimpeur"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "gauche"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreGrimpeur"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5732667617689007,
+        "x": 3.6120827389443653,
         "y": 5.917574893009986
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.266462196861626,
+        "x": 2.3052781740370905,
         "y": 5.904636233951498
       },
       "isLocked": false,
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.23509272467902986,
         "y": 5.917574893009986
       },
       "prevControl": {
-        "x": 1.7230385164051354,
+        "x": 0.778516405135521,
         "y": 5.930513552068473
       },
       "nextControl": null,

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.4476034236804565,
+        "x": 1.878,
-        "y": 4.85660485021398
+        "y": 5.154
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.6971611982881591,
+        "x": 1.1275577746077026,
-        "y": 4.85660485021398
+        "y": 5.154
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.0761055634807417,
+        "x": 1.0372895863052778,
-        "y": 4.85660485021398
+        "y": 5.011868758915835
       },
       "prevControl": {
-        "x": 1.503081312410841,
+        "x": 1.4642653352353772,
-        "y": 4.869543509272469
+        "y": 5.024807417974324
       },
       "nextControl": null,
       "isLocked": false,

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.4476034236804565,
+        "x": 1.878,
-        "y": 4.85660485021398
+        "y": 5.154
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3958487874465044,
+        "x": 1.8262453637660478,
-        "y": 2.695848787446506
+        "y": 2.993243937232526
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.0502282453637657,
+        "x": 2.0076890156918683,
-        "y": 2.4758915834522113
+        "y": 2.2041797432239663
       },
       "prevControl": {
-        "x": 2.292339514978602,
+        "x": 3.2498002853067054,
-        "y": 2.3982596291012843
+        "y": 2.1265477888730393
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,7 +42,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 32.10625595511781
   },
   "reversed": false,
   "folder": null,

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.0502282453637657,
+        "x": 1.0,
-        "y": 2.4758915834522113
+        "y": 2.6
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.0408884389937225,
+        "x": 0.9906601936299568,
-        "y": 2.742159765250622
+        "y": 2.866268181798411
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.0502282453637657,
+        "x": 1.0,
-        "y": 2.7734807417974334
+        "y": 2.9
       },
       "prevControl": {
-        "x": 1.0547546338516156,
+        "x": 1.00452638848785,
-        "y": 2.523521721541598
+        "y": 2.6500409797441646
       },
       "nextControl": null,
       "isLocked": false,

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

@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.29978601997146925,
         "y": 5.917574893009986
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3570328102710407,
+        "x": 1.4772039942938657,
         "y": 5.982268188302426
       },
       "isLocked": false,
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.4476034236804565,
+        "x": 1.8783024251069897,
-        "y": 4.85660485021398
+        "y": 5.154194008559203
       },
       "prevControl": {
-        "x": 2.382910128388017,
+        "x": 1.8136091298145502,
-        "y": 5.400028530670471
+        "y": 5.6976176890156935
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,7 +30,7 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.2179128348660559,
+      "waypointRelativePos": 0.3240938166311289,
       "rotationDegrees": 180.0
     }
   ],

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

@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5473894436519258,
+        "x": 3.602,
         "y": 4.015592011412268
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.494897544356074,
+        "x": 2.549508100704148,
         "y": 4.011425161481168
       },
       "isLocked": false,
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.7359771754636228,
+        "x": 1.643730569948188,
         "y": 4.015592011412268
       },
       "prevControl": {
-        "x": 2.627549770741877,
+        "x": 2.5679620034542325,
-        "y": 4.02839075681212
+        "y": 4.011502590673576
       },
       "nextControl": null,
       "isLocked": false,

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/deploy/pathplanner/settings.json

@@ -16,12 +16,12 @@
   "robotMass": 51.673,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.099,
+  "driveWheelRadius": 0.051,
   "driveGearing": 6.2,
   "maxDriveSpeed": 9.82,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 120.0,
-  "wheelCOF": 1.1,
+  "wheelCOF": 1.2,
   "flModuleX": 0.288925,
   "flModuleY": 0.269875,
   "frModuleX": 0.288925,

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

@@ -20,6 +20,8 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
+import frc.robot.commands.DescendreGrimpeurPlus;
+import frc.robot.commands.Inverser;
 import frc.robot.commands.Lancer;
 import frc.robot.commands.LancerAspirer;
 import frc.robot.commands.LancerBaseVitesse;
@@ -30,9 +32,12 @@ import frc.robot.commands.ModeOposerDemeleur;
 import frc.robot.commands.MonterBalyeuse;
 import frc.robot.commands.MonterGrimpeur;
 import frc.robot.commands.ModeAuto.AspirerAuto;
+import frc.robot.commands.ModeAuto.BougerDroiteAuto;
+import frc.robot.commands.ModeAuto.BougerGaucheAuto;
 import frc.robot.commands.ModeAuto.GrimperMur;
 import frc.robot.commands.ModeAuto.GrimperReservoir;
 import frc.robot.commands.ModeAuto.LancerAuto;
+import frc.robot.commands.ModeAuto.LimelighterAuto;
 import frc.robot.commands.ModeAuto.RetourMilieuDroite;
 import frc.robot.commands.ModeAuto.RetourMilieuGauche;
 import frc.robot.commands.ModeAuto.TournerVersMur;
@@ -41,8 +46,8 @@ import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Grimpeur;
+//import frc.robot.subsystems.LEDSubsystem;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
 import frc.robot.subsystems.LimeLight3;
 import frc.robot.subsystems.Limelight3G;
 
@@ -53,7 +58,7 @@ public class RobotContainer {
   Lanceur lanceur = new Lanceur();
   LimeLight3 limeLight3 = new LimeLight3();
   Limelight3G limeLight3G = new Limelight3G();
-  Led led = new Led();
+  //LEDSubsystem ledSubsystem = new LEDSubsystem();
   CommandXboxController manette = new CommandXboxController(0);
   CommandXboxController manette1 = new CommandXboxController(1);
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@@ -63,21 +68,19 @@ public class RobotContainer {
     private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
             .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
-    private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
-    private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
-
-    private final Telemetry logger = new Telemetry(MaxSpeed);
 
     public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
 
 
   public RobotContainer() {
+    NamedCommands.registerCommand("droite", new BougerDroiteAuto(drivetrain));
+    NamedCommands.registerCommand("gauche", new BougerGaucheAuto(drivetrain));
     NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
     NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
     NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
     NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain,limeLight3G));
     NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche(drivetrain, limeLight3G));
-    NamedCommands.registerCommand("Limelighter", new Limelighter(limeLight3G,drivetrain));
+    NamedCommands.registerCommand("Limelighter", new LimelighterAuto(limeLight3G,drivetrain));
     NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
     NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
     NamedCommands.registerCommand("TournerA180", new TournerVersReservoir(drivetrain));
@@ -93,11 +96,12 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
+    //ledSubsystem.setDefaultCommand(ledSubsystem.updateLEDs());
     drivetrain.setDefaultCommand(
           drivetrain.applyRequest(() ->
-            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05)) 
+            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) 
-              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed, 0.05)) 
+              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed*0.7, 0.05)) 
-             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
+             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate*1.5, 0.05))
         )
       );
     //manette 1
@@ -107,7 +111,7 @@ public class RobotContainer {
     // manette1.povLeft().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
     
     manette.povUp().whileTrue(new MonterGrimpeur(grimpeur));
-    manette.povDown().whileTrue(new DescendreGrimpeur(grimpeur));
+    manette.povDown().whileTrue(new DescendreGrimpeurPlus(grimpeur));
     manette.rightTrigger().whileTrue(new Lancer(lanceur, limeLight3G));
     manette.leftTrigger().whileTrue(new Limelighter(limeLight3G, drivetrain));
     manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
@@ -125,6 +129,10 @@ public class RobotContainer {
     manette1.b().whileTrue(new ModeOposer(lanceur));
     manette1.a().whileTrue(new ModeOposerDemeleur(lanceur));
     manette1.y().whileTrue(new ModeOposerBalayeuse(balayeuse));
+    manette1.povRight().whileTrue(new BougerDroiteAuto(drivetrain));
+    manette1.povLeft().whileTrue(new BougerGaucheAuto(drivetrain));
+    manette1.povDown().whileTrue(new DescendreGrimpeur(grimpeur));
+    manette1.start().whileTrue(new Inverser(drivetrain));
   }
 
   public Command getAutonomousCommand() {

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

@@ -13,6 +13,7 @@ public class DescendreGrimpeur extends Command {
   /** Creates a new DescendreGrimpeur. */
   public DescendreGrimpeur(Grimpeur grimpeur) {
     this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -24,18 +25,21 @@ 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/DescendreGrimpeurPlus.java

@@ -0,0 +1,50 @@
+// 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;
+import frc.robot.subsystems.Grimpeur;
+
+/* 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 DescendreGrimpeurPlus extends Command {
+  private Grimpeur grimpeur;  
+  /** Creates a new DescendreGrimpeur. */
+  public DescendreGrimpeurPlus(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // 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() {
+    if(!grimpeur.Limit()){
+      grimpeur.GrimperGauche(-0.4);
+      grimpeur.GrimperDroit(-0.4);
+    }
+    else{
+      grimpeur.Reset();
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -5,33 +5,33 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Led;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 /* 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 RainBowAnim extends Command {
+public class Inverser extends Command {
-  private Led led;
+  CommandSwerveDrivetrain drivetrain;
-  /** Creates a new RainBowAnim. */
+  boolean inverse = false;
-  public RainBowAnim(Led led) {
+  /** Creates a new Inverser. */
-    this.led = led;
+  public Inverser(CommandSwerveDrivetrain drivetrain) {
-    addRequirements(led);
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    led.RainBow();
+    drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
+  public void end(boolean interrupted) {}
-    led.RainBowStop();
-  }
 
   // Returns true when the command should end.
   @Override

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

@@ -4,7 +4,11 @@
 
 package frc.robot.commands;
 
+import java.util.Optional;
+
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
@@ -16,6 +20,11 @@ public class Lancer extends Command {
   private PIDController pidController;
   private Limelight3G limeLight3G;
   private Timer timer;
+      double vitesse = 0;
+          double botx = 0;
+    double boty = 0;
+      Optional<Alliance> alliance = DriverStation.getAlliance(); 
+
   /** Creates a new Lancer. */
   public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
     this.lanceur = lanceur;
@@ -28,36 +37,47 @@ public class Lancer extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    if(limeLight3G.getV()){}
     pidController = new PIDController(0.0007, 0,0, 0.001);
-    timer.reset();  
+    timer.reset();
+    alliance = DriverStation.getAlliance();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double botx = 0;
-    double boty = 0;
     double[] BotPose = new double[6];
     if(limeLight3G.getV()){
-      BotPose = limeLight3G.getBotPoseBlue();
+    if(!alliance.isPresent()){
+      return;
+    }
+      if(alliance.get() == Alliance.Blue){
+        BotPose = limeLight3G.getBotPoseBlue();
+      }
+      else{
+        BotPose = limeLight3G.getBotPoseRed();
+      } 
       botx = BotPose[0];
       boty = BotPose[1];
-    }                                        
+    vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
-    double vitesse = 0.5;
+  }                                            
-    if(limeLight3G.getV()){
+    // if(limeLight3G.getV()){
-      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
+      
-      System.out.println(vitesse);
+      if(vitesse > 2000){
-
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
+      System.out.println(output);
       if(lanceur.Vitesse() >= vitesse-800){
         timer.start();
-        if(timer.get() >0.5){
+        if(timer.get() >1){
           lanceur.Demeler(1);
         }
-
+      }
+      else{
+        lanceur.Lancer(3500);
+      }
     }
-  }
+  // }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -7,6 +7,7 @@ package frc.robot.commands;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -27,6 +28,7 @@ public class Limelighter extends Command {
   double boty;
   double angle;
   double calcul;
+  double x;
    Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
@@ -42,28 +44,69 @@ 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
   public void execute() {
     double[] BotPose = new double[6];
-    System.out.println("e");
     if (limelight3g.getV()) {
-      if(alliance.get() == Alliance.Blue){
+         BotPose = limelight3g.getBotPoseBlue();
+       if (!alliance.isPresent()) {
+        return;
+      }
+      if (alliance.get() == Alliance.Blue) {
+        x = 4.6;
         BotPose = limelight3g.getBotPoseBlue();
       }
-      else{
+       else {
-        BotPose = limelight3g.getBotPoseRed();
+        //x = 11.915394;
+        x = 4.6;
+       BotPose = limelight3g.getBotPoseRed();
       }
-      
+      botx = BotPose[0];
-      botx = BotPose[1];
+      boty = BotPose[1];
+      angle = BotPose[5];
+      calcul = Math.toRadians(limelight3g.Calcule(boty, 4,botx, x, angle));
+      System.out.println(calcul);
+      //drivetrain.setControl(drive.withRotationalRate(MathUtil.clamp(calcul, -3, 3)));
+      if(calcul > -5 && calcul < 5){
+         drivetrain.setControl(
+           drive.withRotationalRate(0));
+      }
+      else if(calcul > 5){
+        drivetrain.setControl(
+          drive.withRotationalRate(2));
+      }
+      else if(calcul < -5){
+        drivetrain.setControl(drive.withRotationalRate(-2));
+      }
+       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      if(angle >180){
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-        angle -= 360;
+      if(calcul < -5 && calcul > -180){
+        drivetrain.setControl(
+          drive.withRotationalRate(0.5*(2*Math.PI)));
       }
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 10;  
+      else if(calcul > 5 && calcul < 180){
+        drivetrain.setControl(
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
+      }
+      else if(calcul < -5){
+        drivetrain.setControl(
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
+      }
+      else if(calcul <= -180){
+        drivetrain.setControl(
+          drive.withRotationalRate(0.5*(2*Math.PI)));
+      }
+      else{
+        drivetrain.setControl(
+          drive.withRotationalRate(0));
+      }  
       drivetrain.setControl(
           drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
       System.out.println(angle);

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

@@ -0,0 +1,69 @@
+// 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 static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* 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 BougerDroiteAuto extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Timer timer = new Timer();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvanceAuto. */
+  public BougerDroiteAuto(CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+      if(timer.get() < 1.25){
+        drivetrain.setControl(drive.withVelocityY(-1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 1;
+  }
+}

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

@@ -0,0 +1,69 @@
+// 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 static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* 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 BougerGaucheAuto extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Timer timer = new Timer();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvanceAuto. */
+  public BougerGaucheAuto(CommandSwerveDrivetrain drivetrain) {
+        this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+      if(timer.get() < 1.25){
+        drivetrain.setControl(drive.withVelocityY(1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 1;
+  }
+}

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

@@ -14,12 +14,14 @@ import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 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 GrimperMur extends Command {
@@ -31,9 +33,9 @@ public class GrimperMur extends Command {
   double x;
   double y;
   double angle;
+  double pigeonAngle;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
   Optional<Alliance> alliance = DriverStation.getAlliance();
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
@@ -48,50 +50,65 @@ public class GrimperMur extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+     alliance = DriverStation.getAlliance();
+    //   if(drivetrain.Equipe()){
+    //         angle+=180;
+    //   }
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    BotPose = limeLight3.getBotPoseBlue();
+    if(limeLight3.getV()){
-    botx = BotPose[0];
+      BotPose = limeLight3.getBotPoseBlue();
-    boty = BotPose[1];
+      botx = BotPose[0];
-    if(angle < 0){
+      boty = BotPose[1];
-      angle = angle + 360;
+      if(angle < 0){
-    }
+        angle = angle + 360;
-    if(alliance.get() == Alliance.Blue){
+      }
-     y = 2.961328;
+      if(alliance.get() == Alliance.Red){
-     x = 1.11;
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-     angle = 0;
+        System.out.println(pigeonAngle);
-     if(pigeon2.getYaw().getValueAsDouble() > 355 || pigeon2.getYaw().getValueAsDouble() < 5){
+      y = 3.6;
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+      x = 15;
+      angle = 180;
+      if(pigeonAngle> 358 || pigeonAngle< 2){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*10),-2,2)).withRotationalRate(0));
+      }
+      else{
+        if(pigeonAngle>180){
+          drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(1));
+        }
+        else{
+          drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(-1));
+        }
+      }
+      }
+      else{
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+        System.out.println(pigeonAngle);
+        y = 4.4;
+        x = 1.6;
+        angle = 0;
+        if(pigeonAngle> 182 || pigeonAngle< 178){
+          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*10),-2,2)).withRotationalRate(0));
+        }
+        else{
+          if(pigeonAngle>0 && pigeonAngle<180){
+            drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(-1));
+            System.out.println("x");
+          }
+          else if(pigeonAngle>180){
+            System.out.println("e");
+            drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(1));
+          }
+        }
+      }
     }
     else{
-      if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
-        drivetrain.setControl(drive.withRotationalRate(-0.5));
-      }
-      else if(pigeon2.getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5));
-      }
     }
-    }
-    else{
-     x = 11.45966;
-     y = 6.959326;
-     angle = 180;
-     if(pigeon2.getYaw().getValueAsDouble() > 175 && pigeon2.getYaw().getValueAsDouble() < 185){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
-    }
-    else{
-      if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(0.5));
-      }
-      else if(pigeon2.getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5));
-      }
-    }
-    }
-    
   }
 
   // Called once the command ends or is interrupted.
@@ -103,6 +120,6 @@ public class GrimperMur extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
+    return (y-boty < 0.2 && y-boty >-0.2) && (x-botx < 0.06 && x-botx > -0.06);
   }
 }

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

@@ -14,6 +14,7 @@ import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -31,10 +32,10 @@ public class GrimperReservoir extends Command {
   double x;
   double y;
   double angle;
+  double pigeonAngle;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
+    Optional<Alliance> alliance; 
-    Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
             .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -48,50 +49,65 @@ public class GrimperReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+     alliance = DriverStation.getAlliance();
+    // if(drivetrain.Equipe()){
+    //   drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+    // }
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    BotPose = limeLight3G.getBotPoseBlue();
+    if(limeLight3G.getV()){
-    botx = BotPose[0];
+      BotPose = limeLight3G.getBotPoseBlue();
-    boty = BotPose[1];
+      botx = BotPose[0];
-    if(angle < 0){
+      boty = BotPose[1];
-      angle = angle + 360;
+      if(angle < 0){
-    }
+        angle = angle + 360;
-    if(alliance.get() == Alliance.Blue){
+      }
-     y = 5.081328;
+      if(alliance.get() == Alliance.Red){
-     x = 1.11;
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-     angle = 180;
+        System.out.println(pigeonAngle);
-     if(pigeon2.getYaw().getValueAsDouble() < 185 && pigeon2.getYaw().getValueAsDouble() > 175){
+      y = 5.2;
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+      x = 15.6;
+      angle = 180;
+      if(pigeonAngle< 190 && pigeonAngle> 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*10),-2,2)));
+      }
+      else{
+        if(pigeonAngle>180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
+        }
+        else{
+          drivetrain.setControl(drive.withRotationalRate(1));
+        }
+      }
+      }
+      else{
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble()+180;
+        System.out.println(pigeonAngle);
+        y = 2.6;
+        x = 1.11;
+        angle = 0;
+        if(pigeonAngle> 358 || pigeonAngle< 2){
+          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*10),-2,2)).withRotationalRate(0));
+        }
+        else{
+          if(pigeonAngle>0 && pigeonAngle<180){
+            drivetrain.setControl(drive.withRotationalRate(-1));
+            System.out.println("x");
+          }
+          else if(pigeonAngle>180){
+            System.out.println("e");
+            drivetrain.setControl(drive.withRotationalRate(1));
+          }
+        }
+      }
     }
     else{
-      if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
-        drivetrain.setControl(drive.withRotationalRate(0.5));
-      }
-      else if(pigeon2.getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5));
-      }
     }
-    }
-    else{
-     y = 6.959326;
-     x = 13.57966;
-     angle = 0;
-     if(pigeon2.getYaw().getValueAsDouble() > 355 || pigeon2.getYaw().getValueAsDouble() < 5){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
-    }
-    else{
-      if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5));
-      }
-      else if(pigeon2.getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5));
-      }
-    }
-    }
-    
   }
 
   // Called once the command ends or is interrupted.
@@ -103,6 +119,6 @@ public class GrimperReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
+    return (y-boty < 0.2 && y-boty >-0.2) && (x-botx < 0.06 && x-botx > -0.06);
   }
 }

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

@@ -4,7 +4,11 @@
 
 package frc.robot.commands.ModeAuto;
 
+import java.util.Optional;
+
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
@@ -18,6 +22,8 @@ public class LancerAuto extends Command {
   Limelight3G limelight3g;
   double botx = 0;
   double boty = 0;
+  Optional<Alliance> alliance = DriverStation.getAlliance();
+
   /** Creates a new LancerAuto. */
   public LancerAuto(Lanceur lanceur, Limelight3G limelight3g) {
     this.lanceur = lanceur;
@@ -30,34 +36,44 @@ public class LancerAuto extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    pidController = new PIDController(0.0007, 0,0, 0.001);
+    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.
   @Override
   public void execute() {
     double[] BotPose = new double[6];
-    if(limelight3g.getV()){
+    if (limelight3g.getV()) {
-      BotPose = limelight3g.getBotPoseBlue();
+      if (!alliance.isPresent()) {
+        return;
+      }
+      if (alliance.get() == Alliance.Blue) {
+        BotPose = limelight3g.getBotPoseBlue();
+      } else {
+        BotPose = limelight3g.getBotPoseRed();
+      }
+
       botx = BotPose[0];
       boty = BotPose[1];
-    }                                        
+    }
     double vitesse = 0.5;
-    if(limelight3g.getV()){
+    if (limelight3g.getV()) {
-      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
+      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594 - botx), 2) + Math.pow(Math.abs(4.034536 - boty), 2))))
-      System.out.println(vitesse);
+          + 2250;
+      System.out.println("lancer");
 
-      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
+      double output = pidController.calculate(lanceur.Vitesse(), vitesse);
       lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse-800){
+      if (lanceur.Vitesse() >= vitesse - 800) {
         timer.start();
-        if(timer.get() >0.5){
+        if (timer.get() > 1) {
           lanceur.Demeler(1);
         }
-
+      }
     }
   }
-  }
 
   // Called once the command ends or is interrupted.
   @Override
@@ -72,6 +88,6 @@ public class LancerAuto extends Command {
   @Override
   public boolean isFinished() {
     return timer.get() > 4;
-    //return false;
+    // return false;
   }
 }

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

@@ -27,6 +27,7 @@ public class LimelighterAuto extends Command {
   double boty;
   double angle;
   double calcul;
+  double x;
    Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
@@ -42,7 +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
@@ -50,26 +53,64 @@ public class LimelighterAuto extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
-      if(alliance.get() == Alliance.Blue){
+         BotPose = limelight3g.getBotPoseBlue();
+       if (!alliance.isPresent()) {
+        return;
+      }
+      if (alliance.get() == Alliance.Blue) {
+        x = 4.6;
         BotPose = limelight3g.getBotPoseBlue();
       }
-      else{
+       else {
-        BotPose = limelight3g.getBotPoseRed();
+        // x = 11.915394;
+        x = 4.6;
+       BotPose = limelight3g.getBotPoseRed();
       }
-      
+      botx = BotPose[0];
-      botx = BotPose[1];
+      boty = BotPose[1];
-      boty = BotPose[0];
+      angle = BotPose[5];
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      if(angle >180){
+      if(calcul > -5 && calcul < 5){
-        angle -= 360;
+         drivetrain.setControl(
+           drive.withRotationalRate(0));
       }
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
+      else if(calcul > 5){
-      drivetrain.setControl(
+        drivetrain.setControl(
-          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+          drive.withRotationalRate(2));
-      System.out.println(calcul);
-      if (calcul < 0.2 && calcul > -0.2) {
-      drivetrain.setControl(drive.withRotationalRate(0));
       }
+      else if(calcul < -5){
+        drivetrain.setControl(drive.withRotationalRate(-2));
+      }
+      // botx = BotPose[1];
+      // boty = BotPose[0];
+      // angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+      // calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
+      // if(calcul < -5 && calcul > -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else if(calcul > 5 && calcul < 180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul < -5){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul <= -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else{
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0));
+      // }  
+      // drivetrain.setControl(
+      //     drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+      // System.out.println(angle);
+      // if (calcul < 0.2 && calcul > -0.2) {
+      // drivetrain.setControl(drive.withRotationalRate(0));
+      // }
     }
     else{
       drivetrain.setControl(drive.withRotationalRate(0));
@@ -86,7 +127,7 @@ public class LimelighterAuto extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return calcul < 0.1 && calcul > -0.1;
+   return calcul > -5 && calcul < 5;
   }
 }
 

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

@@ -30,7 +30,6 @@ public class RetourMilieuDroite extends Command {
   double angle;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2;
   Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
@@ -58,7 +57,7 @@ public class RetourMilieuDroite extends Command {
       x = 2.305;
       angle = 0;
       if(limelight3g.getV()){
-        if(pigeon2.getYaw().getValueAsDouble() >355 || pigeon2.getYaw().getValueAsDouble() < 5){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
         if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
           drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
         }
@@ -72,10 +71,10 @@ public class RetourMilieuDroite extends Command {
         }
       }
       else{
-        if(pigeon2.getYaw().getValueAsDouble() >angle && pigeon2.getYaw().getValueAsDouble() <angle +180){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() <angle +180){
           drivetrain.setControl(drive.withRotationalRate(0.5));
         }
-        else if(pigeon2.getYaw().getValueAsDouble() >=angle +180){
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=angle +180){
     
           drivetrain.setControl(drive.withRotationalRate(-0.5));
         }
@@ -88,10 +87,10 @@ public class RetourMilieuDroite extends Command {
       angle = 180;
       if(limelight3g.getV()){
     }
-    if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
       drivetrain.setControl(drive.withRotationalRate(0.5));
     }
-    else if(pigeon2.getYaw().getValueAsDouble() >180){
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
       drivetrain.setControl(drive.withRotationalRate(-0.5));
     }
   }

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

@@ -30,7 +30,6 @@ public class RetourMilieuGauche extends Command {
   double angle;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2;
   Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
@@ -63,7 +62,7 @@ public class RetourMilieuGauche extends Command {
       x = 2.305;
       angle = 0;
       if(limelight3g.getV()){
-        if(pigeon2.getYaw().getValueAsDouble() >355 || pigeon2.getYaw().getValueAsDouble() < 5){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
         if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
           drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
         }
@@ -77,10 +76,10 @@ public class RetourMilieuGauche extends Command {
         }
       }
       else{
-        if(pigeon2.getYaw().getValueAsDouble() >angle && pigeon2.getYaw().getValueAsDouble() <angle +180){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() <angle +180){
           drivetrain.setControl(drive.withRotationalRate(0.5));
         }
-        else if(pigeon2.getYaw().getValueAsDouble() >=angle +180){
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=angle +180){
     
           drivetrain.setControl(drive.withRotationalRate(-0.5));
         }
@@ -92,7 +91,7 @@ public class RetourMilieuGauche extends Command {
       x = 13.963;
       angle = 180;
       if(limelight3g.getV()){
-        if(pigeon2.getYaw().getValueAsDouble() >175 && pigeon2.getYaw().getValueAsDouble() < 185){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >175 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 185){
         if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
           drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
         }
@@ -106,10 +105,10 @@ public class RetourMilieuGauche extends Command {
         }
       }
       else{
-        if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
           drivetrain.setControl(drive.withRotationalRate(-0.5));
         }
-        else if(pigeon2.getYaw().getValueAsDouble() >=180){
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=180){
     
           drivetrain.setControl(drive.withRotationalRate(0.5));
         }

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

@@ -23,7 +23,6 @@ public class TournerVersMur extends Command {
   Optional<Alliance> alliance = DriverStation.getAlliance();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
   double force;
   double angle;
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
@@ -38,7 +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
@@ -51,11 +52,11 @@ public class TournerVersMur extends Command {
       force = -0.5;
       angle = 180;
     }
-    if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
-      drivetrain.setControl(drive.withRotationalRate(force));
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
     }
-    else if(pigeon2.getYaw().getValueAsDouble() >180){
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
-      drivetrain.setControl(drive.withRotationalRate(-force));
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
     }
   }
 
@@ -66,6 +67,6 @@ public class TournerVersMur extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return pigeon2.getYaw().getValueAsDouble() > angle && pigeon2.getYaw().getValueAsDouble() < angle + 5;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 10;
   }
 }

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

@@ -23,7 +23,6 @@ public class TournerVersReservoir extends Command {
   Optional<Alliance> alliance = DriverStation.getAlliance();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
   double force;
   double angle;
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
@@ -38,25 +37,34 @@ 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
   public void execute() {
-    if(alliance.get() == Alliance.Blue){
+    if(alliance.isPresent()){
+     if(alliance.get() == Alliance.Blue){
       force = 0.5;
       angle = 180;
     }
     else{
       force = -0.5;
       angle = 0;
+    } 
     }
-    if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10){
-      drivetrain.setControl(drive.withRotationalRate(-force));
+      drivetrain.setControl(drive.withRotationalRate(0));
     }
-    else if(pigeon2.getYaw().getValueAsDouble() >180){
+    else{
-      drivetrain.setControl(drive.withRotationalRate(force));
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+      drivetrain.setControl(drive.withRotationalRate(-force*2));
     }
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+      drivetrain.setControl(drive.withRotationalRate(force*2));
+    }
+  }
   }
 
   // Called once the command ends or is interrupted.
@@ -66,6 +74,6 @@ public class TournerVersReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return  pigeon2.getYaw().getValueAsDouble() > angle && pigeon2.getYaw().getValueAsDouble() < angle + 5;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
   }
 }

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

@@ -13,6 +13,7 @@ public class MonterGrimpeur extends Command {
   /** Creates a new MonterGrimpeur. */
   public MonterGrimpeur(Grimpeur grimpeur) {
     this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -25,23 +26,26 @@ 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.
   @Override
   public boolean isFinished() {
-    return false;
+    return Math.abs(grimpeur.Position()) > grimpeur.PositionFinal();
   }
 }

src/main/java/frc/robot/generated/TunerConstants.java

@@ -1,286 +1,287 @@
-package frc.robot.generated;
+package frc.robot.generated;
-
+
-import static edu.wpi.first.units.Units.*;
+import static edu.wpi.first.units.Units.*;
-
+
-import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.CANBus;
-import com.ctre.phoenix6.configs.*;
+import com.ctre.phoenix6.configs.*;
-import com.ctre.phoenix6.hardware.*;
+import com.ctre.phoenix6.hardware.*;
-import com.ctre.phoenix6.signals.*;
+import com.ctre.phoenix6.signals.*;
-import com.ctre.phoenix6.swerve.*;
+import com.ctre.phoenix6.swerve.*;
-import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
-
+
-import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.math.numbers.N3;
-import edu.wpi.first.units.measure.*;
+import edu.wpi.first.units.measure.*;
-
+
-import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
-
+
-// Generated by the 2026 Tuner X Swerve Project Generator
+// Generated by the 2026 Tuner X Swerve Project Generator
-// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
+// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
-public class TunerConstants {
+public class TunerConstants {
-    // Both sets of gains need to be tuned to your individual robot.
+    // Both sets of gains need to be tuned to your individual robot.
-
+
-    // The steer motor uses any SwerveModule.SteerRequestType control request with the
+    // The steer motor uses any SwerveModule.SteerRequestType control request with the
-    // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
+    // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
-    private static final Slot0Configs steerGains = new Slot0Configs()
+    private static final Slot0Configs steerGains = new Slot0Configs()
-        .withKP(100).withKI(0).withKD(0.5)
+        .withKP(100).withKI(0).withKD(0.5)
-        .withKS(0.1).withKV(2.66).withKA(0)
+        .withKS(0.1).withKV(2.66).withKA(0)
-        .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
+        .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
-    // When using closed-loop control, the drive motor uses the control
+    // When using closed-loop control, the drive motor uses the control
-    // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
+    // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
-    private static final Slot0Configs driveGains = new Slot0Configs()
+    private static final Slot0Configs driveGains = new Slot0Configs()
-        .withKP(0.1).withKI(0).withKD(0)
+        .withKP(0.1).withKI(0).withKD(0)
-        .withKS(0).withKV(0.124);
+        .withKS(0).withKV(0.124);
-
+
-    // The closed-loop output type to use for the steer motors;
+    // The closed-loop output type to use for the steer motors;
-    // This affects the PID/FF gains for the steer motors
+    // This affects the PID/FF gains for the steer motors
-    private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage;
+    private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage;
-    // The closed-loop output type to use for the drive motors;
+    // The closed-loop output type to use for the drive motors;
-    // This affects the PID/FF gains for the drive motors
+    // This affects the PID/FF gains for the drive motors
-    private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage;
+    private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage;
-
+
-    // The type of motor used for the drive motor
+    // The type of motor used for the drive motor
-    private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated;
+    private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated;
-    // The type of motor used for the drive motor
+    // The type of motor used for the drive motor
-    private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
+    private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
-
+
-    // The remote sensor feedback type to use for the steer motors;
+    // The remote sensor feedback type to use for the steer motors;
-    // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
+    // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
-    private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
+    private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
-
+
-    // The stator current at which the wheels start to slip;
+    // The stator current at which the wheels start to slip;
-    // This needs to be tuned to your individual robot
+    // This needs to be tuned to your individual robot
-    private static final Current kSlipCurrent = Amps.of(120);
+    private static final Current kSlipCurrent = Amps.of(120);
-
+
-    // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
+    // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
-    // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
+    // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
-    private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
+    private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
-    private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
+    private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
-        .withCurrentLimits(
+        .withCurrentLimits(
-            new CurrentLimitsConfigs()
+            new CurrentLimitsConfigs()
-                // Swerve azimuth does not require much torque output, so we can set a relatively low
+                // Swerve azimuth does not require much torque output, so we can set a relatively low
-                // stator current limit to help avoid brownouts without impacting performance.
+                // stator current limit to help avoid brownouts without impacting performance.
-                .withStatorCurrentLimit(Amps.of(60))
+                .withStatorCurrentLimit(Amps.of(60))
-                .withStatorCurrentLimitEnable(true)
+                .withStatorCurrentLimitEnable(true)
-        );
+        );
-    private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
+    private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
-    // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
+    // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
-    private static final Pigeon2Configuration pigeonConfigs = null;
+    private static final Pigeon2Configuration pigeonConfigs = null;
-
+
-    // CAN bus that the devices are located on;
+    // CAN bus that the devices are located on;
-    // All swerve devices must share the same CAN bus
+    // All swerve devices must share the same CAN bus
-    public static final CANBus kCANBus = new CANBus("swerve", "./logs/example.hoot");
+    public static final CANBus kCANBus = new CANBus("swerve", "./logs/example.hoot");
-
+
-    // Theoretical free speed (m/s) at 12 V applied output;
+    // Theoretical free speed (m/s) at 12 V applied output;
-    // This needs to be tuned to your individual robot
+    // This needs to be tuned to your individual robot
-    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(9.82);
+    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(9.82);
-
+
-    // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
+    // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
-    // This may need to be tuned to your individual robot
+    // This may need to be tuned to your individual robot
-    private static final double kCoupleRatio = 3.5714285714285716;
+    private static final double kCoupleRatio = 3.5714285714285716;
-
+
-    private static final double kDriveGearRatio = 6.122448979591837;
+    private static final double kDriveGearRatio = 6.122448979591837;
-    private static final double kSteerGearRatio = 21.428571428571427;
+    private static final double kSteerGearRatio = 21.428571428571427;
-    private static final Distance kWheelRadius = Inches.of(3.895);
+    // private static final Distance kWheelRadius = Inches.of(3.895);
-
+    private static final Distance kWheelRadius = Inches.of(2);
-    private static final boolean kInvertLeftSide = false;
+
-    private static final boolean kInvertRightSide = true;
+    private static final boolean kInvertLeftSide = false;
-
+    private static final boolean kInvertRightSide = true;
-    private static final int kPigeonId = 16;
+
-
+    private static final int kPigeonId = 16;
-    // These are only used for simulation
+
-    private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
+    // These are only used for simulation
-    private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
+    private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
-    // Simulated voltage necessary to overcome friction
+    private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
-    private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
+    // Simulated voltage necessary to overcome friction
-    private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
+    private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
-
+    private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
-    public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
+
-            .withCANBusName(kCANBus.getName())
+    public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
-            .withPigeon2Id(kPigeonId)
+            .withCANBusName(kCANBus.getName())
-            .withPigeon2Configs(pigeonConfigs);
+            .withPigeon2Id(kPigeonId)
-
+            .withPigeon2Configs(pigeonConfigs);
-    private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
+
-        new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
+    private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
-            .withDriveMotorGearRatio(kDriveGearRatio)
+        new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
-            .withSteerMotorGearRatio(kSteerGearRatio)
+            .withDriveMotorGearRatio(kDriveGearRatio)
-            .withCouplingGearRatio(kCoupleRatio)
+            .withSteerMotorGearRatio(kSteerGearRatio)
-            .withWheelRadius(kWheelRadius)
+            .withCouplingGearRatio(kCoupleRatio)
-            .withSteerMotorGains(steerGains)
+            .withWheelRadius(kWheelRadius)
-            .withDriveMotorGains(driveGains)
+            .withSteerMotorGains(steerGains)
-            .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
+            .withDriveMotorGains(driveGains)
-            .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
+            .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
-            .withSlipCurrent(kSlipCurrent)
+            .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
-            .withSpeedAt12Volts(kSpeedAt12Volts)
+            .withSlipCurrent(kSlipCurrent)
-            .withDriveMotorType(kDriveMotorType)
+            .withSpeedAt12Volts(kSpeedAt12Volts)
-            .withSteerMotorType(kSteerMotorType)
+            .withDriveMotorType(kDriveMotorType)
-            .withFeedbackSource(kSteerFeedbackType)
+            .withSteerMotorType(kSteerMotorType)
-            .withDriveMotorInitialConfigs(driveInitialConfigs)
+            .withFeedbackSource(kSteerFeedbackType)
-            .withSteerMotorInitialConfigs(steerInitialConfigs)
+            .withDriveMotorInitialConfigs(driveInitialConfigs)
-            .withEncoderInitialConfigs(encoderInitialConfigs)
+            .withSteerMotorInitialConfigs(steerInitialConfigs)
-            .withSteerInertia(kSteerInertia)
+            .withEncoderInitialConfigs(encoderInitialConfigs)
-            .withDriveInertia(kDriveInertia)
+            .withSteerInertia(kSteerInertia)
-            .withSteerFrictionVoltage(kSteerFrictionVoltage)
+            .withDriveInertia(kDriveInertia)
-            .withDriveFrictionVoltage(kDriveFrictionVoltage);
+            .withSteerFrictionVoltage(kSteerFrictionVoltage)
-
+            .withDriveFrictionVoltage(kDriveFrictionVoltage);
-
+
-    // Front Left
+
-    private static final int kFrontLeftDriveMotorId = 6;
+    // Front Left
-    private static final int kFrontLeftSteerMotorId = 9;
+    private static final int kFrontLeftDriveMotorId = 6;
-    private static final int kFrontLeftEncoderId = 24;
+    private static final int kFrontLeftSteerMotorId = 9;
-    private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.36767578125);
+    private static final int kFrontLeftEncoderId = 24;
-    private static final boolean kFrontLeftSteerMotorInverted = true;
+    private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.36767578125);
-    private static final boolean kFrontLeftEncoderInverted = false;
+    private static final boolean kFrontLeftSteerMotorInverted = true;
-
+    private static final boolean kFrontLeftEncoderInverted = false;
-    private static final Distance kFrontLeftXPos = Inches.of(11.375);
+
-    private static final Distance kFrontLeftYPos = Inches.of(10.625);
+    private static final Distance kFrontLeftXPos = Inches.of(11.375);
-
+    private static final Distance kFrontLeftYPos = Inches.of(10.625);
-    // Front Right
+
-    private static final int kFrontRightDriveMotorId = 7;
+    // Front Right
-    private static final int kFrontRightSteerMotorId = 5;
+    private static final int kFrontRightDriveMotorId = 7;
-    private static final int kFrontRightEncoderId = 22;
+    private static final int kFrontRightSteerMotorId = 5;
-    private static final Angle kFrontRightEncoderOffset = Rotations.of(0.23486328125);
+    private static final int kFrontRightEncoderId = 22;
-    private static final boolean kFrontRightSteerMotorInverted = true;
+    private static final Angle kFrontRightEncoderOffset = Rotations.of(0.23486328125);
-    private static final boolean kFrontRightEncoderInverted = false;
+    private static final boolean kFrontRightSteerMotorInverted = true;
-
+    private static final boolean kFrontRightEncoderInverted = false;
-    private static final Distance kFrontRightXPos = Inches.of(11.375);
+
-    private static final Distance kFrontRightYPos = Inches.of(-10.625);
+    private static final Distance kFrontRightXPos = Inches.of(11.375);
-
+    private static final Distance kFrontRightYPos = Inches.of(-10.625);
-    // Back Left
+
-    private static final int kBackLeftDriveMotorId = 10;
+    // Back Left
-    private static final int kBackLeftSteerMotorId = 11;
+    private static final int kBackLeftDriveMotorId = 10;
-    private static final int kBackLeftEncoderId = 21;
+    private static final int kBackLeftSteerMotorId = 11;
-    private static final Angle kBackLeftEncoderOffset = Rotations.of(0.202392578125);
+    private static final int kBackLeftEncoderId = 21;
-    private static final boolean kBackLeftSteerMotorInverted = true;
+    private static final Angle kBackLeftEncoderOffset = Rotations.of(0.202392578125);
-    private static final boolean kBackLeftEncoderInverted = false;
+    private static final boolean kBackLeftSteerMotorInverted = true;
-
+    private static final boolean kBackLeftEncoderInverted = false;
-    private static final Distance kBackLeftXPos = Inches.of(-11.375);
+
-    private static final Distance kBackLeftYPos = Inches.of(10.625);
+    private static final Distance kBackLeftXPos = Inches.of(-11.375);
-
+    private static final Distance kBackLeftYPos = Inches.of(10.625);
-    // Back Right
+
-    private static final int kBackRightDriveMotorId = 14;
+    // Back Right
-    private static final int kBackRightSteerMotorId = 13;
+    private static final int kBackRightDriveMotorId = 14;
-    private static final int kBackRightEncoderId = 23;
+    private static final int kBackRightSteerMotorId = 13;
-    private static final Angle kBackRightEncoderOffset = Rotations.of(-0.33203125);
+    private static final int kBackRightEncoderId = 23;
-    private static final boolean kBackRightSteerMotorInverted = true;
+    private static final Angle kBackRightEncoderOffset = Rotations.of(-0.33203125);
-    private static final boolean kBackRightEncoderInverted = false;
+    private static final boolean kBackRightSteerMotorInverted = true;
-
+    private static final boolean kBackRightEncoderInverted = false;
-    private static final Distance kBackRightXPos = Inches.of(-11.375);
+
-    private static final Distance kBackRightYPos = Inches.of(-10.625);
+    private static final Distance kBackRightXPos = Inches.of(-11.375);
-
+    private static final Distance kBackRightYPos = Inches.of(-10.625);
-
+
-    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontLeft =
+
-        ConstantCreator.createModuleConstants(
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontLeft =
-            kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset,
+        ConstantCreator.createModuleConstants(
-            kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, kFrontLeftEncoderInverted
+            kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset,
-        );
+            kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, kFrontLeftEncoderInverted
-    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontRight =
+        );
-        ConstantCreator.createModuleConstants(
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontRight =
-            kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset,
+        ConstantCreator.createModuleConstants(
-            kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, kFrontRightEncoderInverted
+            kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset,
-        );
+            kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, kFrontRightEncoderInverted
-    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackLeft =
+        );
-        ConstantCreator.createModuleConstants(
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackLeft =
-            kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset,
+        ConstantCreator.createModuleConstants(
-            kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, kBackLeftEncoderInverted
+            kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset,
-        );
+            kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, kBackLeftEncoderInverted
-    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackRight =
+        );
-        ConstantCreator.createModuleConstants(
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackRight =
-            kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset,
+        ConstantCreator.createModuleConstants(
-            kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, kBackRightEncoderInverted
+            kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset,
-        );
+            kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, kBackRightEncoderInverted
-
+        );
-    /**
+
-     * Creates a CommandSwerveDrivetrain instance.
+    /**
-     * This should only be called once in your robot program,.
+     * Creates a CommandSwerveDrivetrain instance.
-     */
+     * This should only be called once in your robot program,.
-    public static CommandSwerveDrivetrain createDrivetrain() {
+     */
-        return new CommandSwerveDrivetrain(
+    public static CommandSwerveDrivetrain createDrivetrain() {
-            DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight
+        return new CommandSwerveDrivetrain(
-        );
+            DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight
-    }
+        );
-
+    }
-
+
-    /**
+
-     * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.
+    /**
-     */
+     * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.
-    public static class TunerSwerveDrivetrain extends SwerveDrivetrain<TalonFX, TalonFX, CANcoder> {
+     */
-        /**
+    public static class TunerSwerveDrivetrain extends SwerveDrivetrain<TalonFX, TalonFX, CANcoder> {
-         * Constructs a CTRE SwerveDrivetrain using the specified constants.
+        /**
-         * <p>
+         * Constructs a CTRE SwerveDrivetrain using the specified constants.
-         * This constructs the underlying hardware devices, so users should not construct
+         * <p>
-         * the devices themselves. If they need the devices, they can access them through
+         * This constructs the underlying hardware devices, so users should not construct
-         * getters in the classes.
+         * the devices themselves. If they need the devices, they can access them through
-         *
+         * getters in the classes.
-         * @param drivetrainConstants   Drivetrain-wide constants for the swerve drive
+         *
-         * @param modules               Constants for each specific module
+         * @param drivetrainConstants   Drivetrain-wide constants for the swerve drive
-         */
+         * @param modules               Constants for each specific module
-        public TunerSwerveDrivetrain(
+         */
-            SwerveDrivetrainConstants drivetrainConstants,
+        public TunerSwerveDrivetrain(
-            SwerveModuleConstants<?, ?, ?>... modules
+            SwerveDrivetrainConstants drivetrainConstants,
-        ) {
+            SwerveModuleConstants<?, ?, ?>... modules
-            super(
+        ) {
-                TalonFX::new, TalonFX::new, CANcoder::new,
+            super(
-                drivetrainConstants, modules
+                TalonFX::new, TalonFX::new, CANcoder::new,
-            );
+                drivetrainConstants, modules
-        }
+            );
-
+        }
-        /**
+
-         * Constructs a CTRE SwerveDrivetrain using the specified constants.
+        /**
-         * <p>
+         * Constructs a CTRE SwerveDrivetrain using the specified constants.
-         * This constructs the underlying hardware devices, so users should not construct
+         * <p>
-         * the devices themselves. If they need the devices, they can access them through
+         * This constructs the underlying hardware devices, so users should not construct
-         * getters in the classes.
+         * the devices themselves. If they need the devices, they can access them through
-         *
+         * getters in the classes.
-         * @param drivetrainConstants     Drivetrain-wide constants for the swerve drive
+         *
-         * @param odometryUpdateFrequency The frequency to run the odometry loop. If
+         * @param drivetrainConstants     Drivetrain-wide constants for the swerve drive
-         *                                unspecified or set to 0 Hz, this is 250 Hz on
+         * @param odometryUpdateFrequency The frequency to run the odometry loop. If
-         *                                CAN FD, and 100 Hz on CAN 2.0.
+         *                                unspecified or set to 0 Hz, this is 250 Hz on
-         * @param modules                 Constants for each specific module
+         *                                CAN FD, and 100 Hz on CAN 2.0.
-         */
+         * @param modules                 Constants for each specific module
-        public TunerSwerveDrivetrain(
+         */
-            SwerveDrivetrainConstants drivetrainConstants,
+        public TunerSwerveDrivetrain(
-            double odometryUpdateFrequency,
+            SwerveDrivetrainConstants drivetrainConstants,
-            SwerveModuleConstants<?, ?, ?>... modules
+            double odometryUpdateFrequency,
-        ) {
+            SwerveModuleConstants<?, ?, ?>... modules
-            super(
+        ) {
-                TalonFX::new, TalonFX::new, CANcoder::new,
+            super(
-                drivetrainConstants, odometryUpdateFrequency, modules
+                TalonFX::new, TalonFX::new, CANcoder::new,
-            );
+                drivetrainConstants, odometryUpdateFrequency, modules
-        }
+            );
-
+        }
-        /**
+
-         * Constructs a CTRE SwerveDrivetrain using the specified constants.
+        /**
-         * <p>
+         * Constructs a CTRE SwerveDrivetrain using the specified constants.
-         * This constructs the underlying hardware devices, so users should not construct
+         * <p>
-         * the devices themselves. If they need the devices, they can access them through
+         * This constructs the underlying hardware devices, so users should not construct
-         * getters in the classes.
+         * the devices themselves. If they need the devices, they can access them through
-         *
+         * getters in the classes.
-         * @param drivetrainConstants       Drivetrain-wide constants for the swerve drive
+         *
-         * @param odometryUpdateFrequency   The frequency to run the odometry loop. If
+         * @param drivetrainConstants       Drivetrain-wide constants for the swerve drive
-         *                                  unspecified or set to 0 Hz, this is 250 Hz on
+         * @param odometryUpdateFrequency   The frequency to run the odometry loop. If
-         *                                  CAN FD, and 100 Hz on CAN 2.0.
+         *                                  unspecified or set to 0 Hz, this is 250 Hz on
-         * @param odometryStandardDeviation The standard deviation for odometry calculation
+         *                                  CAN FD, and 100 Hz on CAN 2.0.
-         *                                  in the form [x, y, theta]ᵀ, with units in meters
+         * @param odometryStandardDeviation The standard deviation for odometry calculation
-         *                                  and radians
+         *                                  in the form [x, y, theta]ᵀ, with units in meters
-         * @param visionStandardDeviation   The standard deviation for vision calculation
+         *                                  and radians
-         *                                  in the form [x, y, theta]ᵀ, with units in meters
+         * @param visionStandardDeviation   The standard deviation for vision calculation
-         *                                  and radians
+         *                                  in the form [x, y, theta]ᵀ, with units in meters
-         * @param modules                   Constants for each specific module
+         *                                  and radians
-         */
+         * @param modules                   Constants for each specific module
-        public TunerSwerveDrivetrain(
+         */
-            SwerveDrivetrainConstants drivetrainConstants,
+        public TunerSwerveDrivetrain(
-            double odometryUpdateFrequency,
+            SwerveDrivetrainConstants drivetrainConstants,
-            Matrix<N3, N1> odometryStandardDeviation,
+            double odometryUpdateFrequency,
-            Matrix<N3, N1> visionStandardDeviation,
+            Matrix<N3, N1> odometryStandardDeviation,
-            SwerveModuleConstants<?, ?, ?>... modules
+            Matrix<N3, N1> visionStandardDeviation,
-        ) {
+            SwerveModuleConstants<?, ?, ?>... modules
-            super(
+        ) {
-                TalonFX::new, TalonFX::new, CANcoder::new,
+            super(
-                drivetrainConstants, odometryUpdateFrequency,
+                TalonFX::new, TalonFX::new, CANcoder::new,
-                odometryStandardDeviation, visionStandardDeviation, modules
+                drivetrainConstants, odometryUpdateFrequency,
-            );
+                odometryStandardDeviation, visionStandardDeviation, modules
-        }
+            );
-    }
+        }
-}
+    }
+}

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

@@ -55,7 +55,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
     private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
     private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-
     /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
     private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
         new SysIdRoutine.Config(
@@ -254,7 +253,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         else if(getPigeon2().getYaw().getValueAsDouble() < 0){
             getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
          }
-        
         /*
          * Periodically try to apply the operator perspective.
          * If we haven't applied the operator perspective before, then we should apply it regardless of DS state.

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

@@ -5,7 +5,6 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.networktables.GenericEntry;
@@ -16,28 +15,44 @@ 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 grimpeur1 = new SparkMax(3, MotorType.kBrushless);
-  SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
+  SparkMax grimpeur2 = new SparkMax(12, MotorType.kBrushless);
-  SparkMaxConfig slaveConfig = new SparkMaxConfig();
+
+  // SparkMaxConfig slaveConfig = new SparkMaxConfig();
   DigitalInput limit = new DigitalInput(0);
-    private GenericEntry EncodeurGrimpeur =
+  private GenericEntry EncodeurGrimpeur = teb.add("Position haut grimpeur", 100).getEntry();
-  teb.add("Position haut grimpeur", 105).getEntry();
+
-  public void Grimper(double vitesse){
+  // public void Grimper(double vitesse){
+  // 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 void GrimperDroit(double vitesse) {
     grimpeur2.set(vitesse);
   }
-  public double Position(){
+
+  public double Position() {
     return grimpeur1.getEncoder().getPosition();
   }
-  public void Reset(){
+
+  public void Reset() {
     grimpeur1.getEncoder().setPosition(0);
   }
-  public boolean Limit(){
+
+  public boolean Limit() {
     return limit.get();
   }
-  public double PositionFinal(){
+
-    return EncodeurGrimpeur.getDouble(105);
+  public double PositionFinal() {
+    return EncodeurGrimpeur.getDouble(100);
   }
+
   /** Creates a new Grimpeur. */
   public Grimpeur() {
     teb.addDouble("encodeur grimpeur", this::Position);

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

@@ -0,0 +1,149 @@
+// /* Generated by Phoenix Tuner X */
+// package frc.robot.subsystems;
+
+// import edu.wpi.first.networktables.GenericEntry;
+// import edu.wpi.first.wpilibj.DriverStation;
+// import edu.wpi.first.wpilibj.Timer;
+// import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+// import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+// import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+// import edu.wpi.first.wpilibj2.command.Command;
+// import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+// import com.ctre.phoenix6.CANBus;
+// import com.ctre.phoenix6.controls.SolidColor;
+// import com.ctre.phoenix6.hardware.CANdle;
+// import com.ctre.phoenix6.signals.RGBWColor;
+
+// /**
+//  * Subsystem that controls an addressable LED strip using a CANdle.
+//  */
+// 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();  
+//     private final CANBus kCANBus = new CANBus("rio");
+//     private final CANdle m_candle = new CANdle(17, kCANBus);
+//     public void Bleu(){
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(255, 0, 0, 0)));
+//     }
+//     public void Rouge(){
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0)));
+//     }
+//     public void Vert(){
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0)));
+//     }
+//     public void Noir(){
+
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
+//     }
+//     public void Flash(boolean couleur){
+//         Timer timer = new Timer();
+//         if(timer.get() <0.5){
+//             if(couleur){
+//                 Bleu();
+//             }
+//             else{
+//                 Rouge();
+//             }
+//         }
+//         else{
+//             Noir();
+//             timer.reset();
+//         }
+//     }
+//     public LEDSubsystem() {
+//         setDefaultCommand(updateLEDs());
+//         _timer = new Timer();
+//         _timer.start();
+//     }
+//     public boolean Equipe(){
+//         return equipe.getBoolean(false);
+//     }
+//     /**
+//      * Updates the animations and LEDs of the CANdle.
+//      *
+//      * @return Command to run
+//      */
+//     public Command updateLEDs() {
+//         return run(() -> {
+//         //    if(q){
+//         //         _timer.reset();
+//         //         q = false;
+//         //    }
+//             double temps = _timer.get();
+//             System.out.println(temps);
+//             if(Equipe()){
+//                 if(temps > 30){
+//                     Vert();
+//                 }
+//                 else if(temps > 52){
+                    
+//                     Bleu();
+//                 }
+//                 else if(temps > 55){
+//                     Flash(true);
+//                 }
+//                 else if(temps > 67){
+//                     Rouge();
+//                 }
+//                 else if(temps  > 70){
+//                     Flash(false);
+//                 }
+//                 else if(temps > 103){
+//                     Bleu();
+//                 }
+//                 else if(temps  > 105){
+//                     Flash(true);
+//                 }
+//                 else if(temps > 127){
+//                     Rouge();
+//                 }
+//                 else if(temps > 130){
+//                     Flash(false);
+//                 }
+//                 else if(temps < 140){
+//                     Vert();
+//                 }
+//             }
+//             else{
+//                 if(temps > 110){
+//                     Vert();
+//                 }
+//                 else if(temps > 88){
+                    
+//                     Rouge();
+//                 }
+//                 else if(temps > 85){
+//                     Flash(false);
+//                 }
+//                 else if(temps > 63){
+//                     Bleu();
+//                 }
+//                 else if(temps  > 60){
+//                     Flash(true);
+//                 }
+//                 else if(temps > 33){
+//                     Rouge();
+//                 }
+//                 else if(temps  > 30){
+//                     Flash(false);
+//                 }
+//                 else if(temps > 13){
+//                     Bleu();
+//                 }
+//                 else if(temps > 10){
+//                     Flash(true);
+//                 }
+//                 else if(temps < 10){
+//                     Vert();
+//                 }
+//             }
+//             // _timer.stop();
+            
+//         });
+//     }
+// }
+

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

@@ -1,145 +0,0 @@
-// 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.subsystems;
-
-import com.ctre.phoenix.led.CANdle;
-import com.ctre.phoenix.led.RainbowAnimation;
-
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Led extends SubsystemBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  private GenericEntry equipe = 
-  teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  @SuppressWarnings("removal")
-  CANdle CANDle = new CANdle(17);
-  @SuppressWarnings("removal")
-  RainbowAnimation rainbowAnim = new RainbowAnimation();
-    @SuppressWarnings("removal")
-    public void bleu(){
-    CANDle.setLEDs(0, 0, 255,0,0,8);
-    CANDle.setLEDs(0, 0, 255,0,16,8);
-    CANDle.setLEDs(0, 0, 255,0,32,8);
-    // CANDle.setLEDs(0, 0, 255,0,56,8);
-    // CANDle.setLEDs(0, 0, 255,0,72,8);
-    // CANDle.setLEDs(0, 0, 255,0,88,8);
-    // CANDle.setLEDs(0, 0, 255,0,104,8);
-    // CANDle.setLEDs(0, 0, 255,0,120,8);
-    // CANDle.setLEDs(0, 0, 255,0,136,8);
-    
-  }
-  @SuppressWarnings("removal")
-  public void Vert1(){
-    CANDle.setLEDs(0, 255, 0,0,0,8);
-    CANDle.setLEDs(0, 255, 0,0,16,8);
-    CANDle.setLEDs(0, 255, 0,0,32,8);
-    // CANDle.setLEDs(0, 255, 0,0,56,8);
-    // CANDle.setLEDs(0, 255, 0,0,72,8);
-    // CANDle.setLEDs(0, 255, 0,0,88,8);
-    // CANDle.setLEDs(0, 255, 0,0,104,8);
-    // CANDle.setLEDs(0, 255, 0,0,120,8);
-    // CANDle.setLEDs(0, 255, 0,0,136,8);
-  }
-  @SuppressWarnings("removal")
-  public void Rouge(){
-    CANDle.setLEDs(255, 0, 0,0,0,8);
-    CANDle.setLEDs(255, 0, 0,0,16,8);
-    CANDle.setLEDs(255, 0, 0,0,32,8);
-    // CANDle.setLEDs(255, 0, 0,0,48,8);
-    // CANDle.setLEDs(255, 0, 0,0,64,8);
-    // CANDle.setLEDs(255, 0, 0,0,80,8);
-    // CANDle.setLEDs(255, 0, 0,0,96,8);
-    // CANDle.setLEDs(255, 0, 0,0,112,8);
-    // CANDle.setLEDs(255, 0, 0,0,128,8);
-  }
-  @SuppressWarnings("removal")
-  public void Jaune2(){
-    CANDle.setLEDs(255, 255, 0,0,8,8);
-    CANDle.setLEDs(255, 255, 0,0,24,8);
-    CANDle.setLEDs(255, 255, 0,0,40,8);
-    // CANDle.setLEDs(255, 255, 0,0,56,8);
-    // CANDle.setLEDs(255, 255, 0,0,72,8);
-    // CANDle.setLEDs(255, 255, 0,0,88,8);
-    // CANDle.setLEDs(255, 255, 0,0,104,8);
-    // CANDle.setLEDs(255, 255, 0,0,120,8);
-    // CANDle.setLEDs(255, 255, 0,0,136,8);
-  }
-  @SuppressWarnings("removal")
-  public void Rouge2(){
-    CANDle.setLEDs(255, 0, 0,0,8,8);
-    CANDle.setLEDs(255, 0, 0,0,24,8);
-    CANDle.setLEDs(255, 0, 0,0,40,8);
-    // CANDle.setLEDs(255, 0, 0,0,56,8);
-    // CANDle.setLEDs(255, 0, 0,0,72,8);
-    // CANDle.setLEDs(255, 0, 0,0,88,8);
-    // CANDle.setLEDs(255, 0, 0,0,104,8);
-    // CANDle.setLEDs(255, 0, 0,0,120,8);
-    // CANDle.setLEDs(255, 0, 0,0,136,8);
-  }
-  @SuppressWarnings("removal")
-  public void RainBow(){
-    CANDle.animate(rainbowAnim);
-  }
-  @SuppressWarnings("removal")
-  public void RainBowStop(){
-    CANDle.animate(null);
-  }
-  public boolean Equipe(){
-    return equipe.getBoolean(true);
-  }
-  /** Creates a new Led. */
-  public Led() {}
-
-  @Override
-  public void periodic() {
-    
-    double temps = DriverStation.getMatchTime();
-    if(temps > 20 && temps < 30){
-      Vert1();
-    }
-    if(Equipe()){
-      if(temps > 30 && temps < 55){
-        bleu();
-      }
-      else if(temps > 30 && temps < 80){
-        Rouge();
-      }
-      else if(temps > 80 && temps < 105){
-        bleu();
-      }
-      else if(temps > 105 && temps < 130){
-        Rouge();
-      }
-      else{
-        RainBow();
-      }
-    }
-    else{
-      if(temps > 30 && temps < 55){
-        Rouge();
-      }
-      else if(temps > 30 && temps < 80){
-        bleu();
-      }
-      else if(temps > 80 && temps < 105){
-        Rouge();
-      }
-      else if(temps > 105 && temps < 130){
-        bleu();
-      }
-      else{
-        RainBow();
-      }
-    }
-    // This method will be called once per scheduler run
-    
-  }
-    
-}

src/main/java/frc/robot/subsystems/LimeLight3.java

@@ -10,7 +10,7 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.LimelightHelpers;
-
+ 
 public class LimeLight3 extends SubsystemBase {
   NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
   NetworkTableEntry pipeline = table.getEntry("pipeline");
@@ -22,13 +22,13 @@ public class LimeLight3 extends SubsystemBase {
   }
   public double[] getBotPoseBlue(){
     NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
     double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
     return BotPose;
     }
     public double[] getBotPoseRed(){
       NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
     double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
     return BotPose;
     }

src/main/java/frc/robot/subsystems/Limelight3G.java

@@ -52,7 +52,28 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
     }
     public double Calcule(double x1, double x2, double y1, double y2, double angle)
     {
-      return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
+      // if(x1 > x2){
+      //   if(y1 > y2){
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
+      //   }
+      //   else{
+      //     return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+90 - angle;
+      //   }
+      // }
+      // else{
+      //   if(y1 > y2){
+      //     return Math.atan((x2 - x1) / (y2 - y1))* (180 / Math.PI)+270 - angle;
+      //   }
+      //   else{
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI)+180 - angle;
+      //   }
+      // }
+      if(y1 > y2){
+          return Math.toDegrees(Math.atan((x2 - x1) /(y2 - y1))) - angle;
+        }
+        else{
+          return Math.toDegrees(-Math.atan((x2 - x1) / (y2 - y1))) - angle;
+        }
     }
   @Override
   public void periodic() {