competiton

simgui-ds.json

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

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

@@ -42,11 +42,9 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Limelighter"
+            "commands": [
-          }
-        },
               {
                 "type": "named",
                 "data": {
@@ -56,7 +54,10 @@
               {
                 "type": "named",
                 "data": {
-            "name": "TournerA180"
+                  "name": "Aspirer"
+                }
+              }
+            ]
           }
         },
         {

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

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

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "tirgrimpe1"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -15,15 +21,9 @@
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "named",
                 "data": {
-                  "waitTime": 3.0
+                  "name": "Lancer"
-                }
-              },
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Depot"
                 }
               },
               {
@@ -35,36 +35,6 @@
             ]
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Tir"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Limelighter"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Lancer"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "TournerAZero"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "GrimperReservoir"
-          }
-        },
         {
           "type": "named",
           "data": {

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

@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 0.4938659058487873,
+        "x": 0.23509272467902986,
         "y": 5.917574893009986
       },
       "prevControl": {
-        "x": 1.0372895863052785,
+        "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/Tir.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.5197432239657629,
+        "x": 0.29978601997146925,
-        "y": 5.930513552068473
+        "y": 5.917574893009986
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.6971611982881594,
+        "x": 1.4772039942938657,
-        "y": 5.995206847360913
+        "y": 5.982268188302426
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "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,

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

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5991440798858774,
+        "y": 2.3465049928673327
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.589928673323822,
+        "y": 1.7513266761768898
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8783024251069897,
+        "y": 2.3465049928673327
+      },
+      "prevControl": {
+        "x": 2.706376604850214,
+        "y": 1.7125106990014274
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 33.11134196037204
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -20,6 +20,7 @@ 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;
@@ -45,7 +46,7 @@ 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.LEDSubsystem;
 import frc.robot.subsystems.Lanceur;
 import frc.robot.subsystems.LimeLight3;
 import frc.robot.subsystems.Limelight3G;
@@ -57,7 +58,7 @@ public class RobotContainer {
   Lanceur lanceur = new Lanceur();
   LimeLight3 limeLight3 = new LimeLight3();
   Limelight3G limeLight3G = new Limelight3G();
-  LEDSubsystem ledSubsystem = new LEDSubsystem();
+  //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
@@ -95,12 +96,12 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
-    ledSubsystem.setDefaultCommand(ledSubsystem.updateLEDs());
+    //ledSubsystem.setDefaultCommand(ledSubsystem.updateLEDs());
     drivetrain.setDefaultCommand(
           drivetrain.applyRequest(() ->
             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*0.7, 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
@@ -110,7 +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));
@@ -130,6 +131,7 @@ public class RobotContainer {
     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));
   }
 

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

@@ -13,21 +13,20 @@ public class Inverser extends Command {
   boolean inverse = false;
   /** Creates a new Inverser. */
   public Inverser(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() {}
+  public void initialize() {
+    drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(!inverse){
-      drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
-      inverse = true;
-    }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -20,7 +20,7 @@ public class Lancer extends Command {
   private PIDController pidController;
   private Limelight3G limeLight3G;
   private Timer timer;
-      double vitesse = 0.5;
+      double vitesse = 0;
           double botx = 0;
     double boty = 0;
       Optional<Alliance> alliance = DriverStation.getAlliance(); 
@@ -61,9 +61,9 @@ public class Lancer extends Command {
       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;
   }                                            
-    if(limeLight3G.getV()){
+    // if(limeLight3G.getV()){
-      
       
+      if(vitesse > 2000){
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
       System.out.println(output);
@@ -72,9 +72,12 @@ public class Lancer extends Command {
         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;
@@ -51,7 +52,6 @@ public class Limelighter extends Command {
   @Override
   public void execute() {
     double[] BotPose = new double[6];
-    System.out.println("e");
     if (limelight3g.getV()) {
          BotPose = limelight3g.getBotPoseBlue();
        if (!alliance.isPresent()) {
@@ -62,13 +62,16 @@ public class Limelighter extends Command {
         BotPose = limelight3g.getBotPoseBlue();
       }
        else {
-        x = 11.915394;
+        //x = 11.915394;
+        x = 4.6;
        BotPose = limelight3g.getBotPoseRed();
       }
       botx = BotPose[0];
       boty = BotPose[1];
       angle = BotPose[5];
-      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
+      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));
@@ -80,36 +83,36 @@ public class Limelighter extends Command {
       else if(calcul < -5){
         drivetrain.setControl(drive.withRotationalRate(-2));
       }
-      // botx = BotPose[1];
+       botx = BotPose[1];
-      // boty = BotPose[0];
+      boty = BotPose[0];
-      // angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      // calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      // if(calcul < -5 && calcul > -180){
+      if(calcul < -5 && calcul > -180){
-      //   drivetrain.setControl(
+        drivetrain.setControl(
-      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
-      // }
+      }
-      // else if(calcul > 5 && calcul < 180){
+      else if(calcul > 5 && calcul < 180){
-      //   drivetrain.setControl(
+        drivetrain.setControl(
-      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
-      // }
+      }
-      // else if(calcul < -5){
+      else if(calcul < -5){
-      //   drivetrain.setControl(
+        drivetrain.setControl(
-      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
-      // }
+      }
-      // else if(calcul <= -180){
+      else if(calcul <= -180){
-      //   drivetrain.setControl(
+        drivetrain.setControl(
-      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
-      // }
+      }
-      // else{
+      else{
-      //   drivetrain.setControl(
+        drivetrain.setControl(
-      //     drive.withRotationalRate(0));
+          drive.withRotationalRate(0));
-      // }  
+      }  
-      // drivetrain.setControl(
+      drivetrain.setControl(
-      //     drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
-      // System.out.println(angle);
+      System.out.println(angle);
-      // if (calcul < 0.2 && calcul > -0.2) {
+      if (calcul < 0.2 && calcul > -0.2) {
-      // drivetrain.setControl(drive.withRotationalRate(0));
+      drivetrain.setControl(drive.withRotationalRate(0));
-      // }
+      }
     }
     else{
       drivetrain.setControl(drive.withRotationalRate(0));

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

@@ -46,24 +46,13 @@ public class BougerDroiteAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(alliance.get() == Alliance.Blue){
+      if(timer.get() < 1.25){
-      if(timer.get() < .75){
-        System.out.println("8765");
         drivetrain.setControl(drive.withVelocityY(-1.5));
       }
       else{
         drivetrain.setControl(drive.withVelocityY(0));
       }
   }
-    else{
-      if(timer.get() < 0.75){
-        drivetrain.setControl(drive.withVelocityY(1.5));
-      }
-      else{
-        drivetrain.setControl(drive.withVelocityY(0));
-      }
-    }
-  }
 
   // Called once the command ends or is interrupted.
   @Override

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

@@ -46,23 +46,13 @@ public class BougerGaucheAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(alliance.get() == Alliance.Blue){
+      if(timer.get() < 1.25){
-      if(timer.get() < 0.75){
         drivetrain.setControl(drive.withVelocityY(1.5));
       }
       else{
         drivetrain.setControl(drive.withVelocityY(0));
       }
   }
-    else{
-      if(timer.get() < 0.75){
-        drivetrain.setControl(drive.withVelocityY(1.5));
-      }
-      else{
-        drivetrain.setControl(drive.withVelocityY(0));
-      }
-    }
-  }
 
   // Called once the command ends or is interrupted.
   @Override

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 {
@@ -31,6 +33,7 @@ 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);
   Optional<Alliance> alliance = DriverStation.getAlliance();
@@ -48,7 +51,7 @@ public class GrimperMur extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    // alliance = DriverStation.getAlliance();
+     alliance = DriverStation.getAlliance();
     //   if(drivetrain.Equipe()){
     //         angle+=180;
     //   }
@@ -57,46 +60,55 @@ public class GrimperMur extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(limeLight3.getV()){
       BotPose = limeLight3.getBotPoseBlue();
       botx = BotPose[0];
       boty = BotPose[1];
-    System.out.println(drivetrain.getPigeon2().getYaw().getValueAsDouble());
       if(angle < 0){
         angle = angle + 360;
       }
-    if(alliance.get() == Alliance.Blue){
+      if(alliance.get() == Alliance.Red){
-     y = 5.4;
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-     x = 1.11;
+        System.out.println(pigeonAngle);
-     angle = 0;
+      y = 3.6;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
+      x = 15;
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-    }
-    }
-    else{
-     x = 15.6;
-     y = 6.959326;
       angle = 180;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){
+      if(pigeonAngle> 358 || pigeonAngle< 2){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*10),-2,2)).withRotationalRate(0));
       }
       else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+        if(pigeonAngle>180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
+          drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(1));
         }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+        else{
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
+          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{
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
+    }
   }
 
   // Called once the command ends or is interrupted.
@@ -108,6 +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

@@ -69,11 +69,11 @@ public class GrimperReservoir extends Command {
       if(alliance.get() == Alliance.Red){
         pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
         System.out.println(pigeonAngle);
-      y = 5.4;
+      y = 5.2;
       x = 15.6;
       angle = 180;
       if(pigeonAngle< 190 && pigeonAngle> 170){
-        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*5.5),-2,2)));
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*10),-2,2)));
       }
       else{
         if(pigeonAngle>180){
@@ -91,7 +91,7 @@ public class GrimperReservoir extends Command {
         x = 1.11;
         angle = 0;
         if(pigeonAngle> 358 || pigeonAngle< 2){
-          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)).withRotationalRate(0));
+          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){
@@ -119,6 +119,6 @@ public class GrimperReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return (y-boty < 0.1 && y-boty >-0.1) && (x-botx < 0.1 && x-botx > -0.1);
+    return (y-boty < 0.2 && y-boty >-0.2) && (x-botx < 0.06 && x-botx > -0.06);
   }
 }

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

@@ -53,7 +53,7 @@ public class LimelighterAuto extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
-        // BotPose = limelight3g.getBotPoseBlue();
+         BotPose = limelight3g.getBotPoseBlue();
        if (!alliance.isPresent()) {
         return;
       }
@@ -62,28 +62,29 @@ public class LimelighterAuto extends Command {
         BotPose = limelight3g.getBotPoseBlue();
       }
        else {
-        x = 11.915394;
+        // x = 11.915394;
+        x = 4.6;
        BotPose = limelight3g.getBotPoseRed();
       }
-      botx = BotPose[1];
+      botx = BotPose[0];
-      boty = BotPose[0];
+      boty = BotPose[1];
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+      angle = BotPose[5];
       calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      if(angle > 180){
-        angle -= 360;
-      }
       if(calcul > -5 && calcul < 5){
          drivetrain.setControl(
            drive.withRotationalRate(0));
       }
       else if(calcul > 5){
         drivetrain.setControl(
-           drive.withRotationalRate(0.5*(2*Math.PI)));
+          drive.withRotationalRate(2));
       }
       else if(calcul < -5){
-        drivetrain.setControl(
+        drivetrain.setControl(drive.withRotationalRate(-2));
-           drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
+      // 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)));
@@ -92,7 +93,7 @@ public class LimelighterAuto extends Command {
       //   drivetrain.setControl(
       //     drive.withRotationalRate(-0.5*(2*Math.PI)));
       // }
-      // else if(calcul >= 180){
+      // else if(calcul < -5){
       //   drivetrain.setControl(
       //     drive.withRotationalRate(-0.5*(2*Math.PI)));
       // }
@@ -129,3 +130,4 @@ public class LimelighterAuto extends Command {
    return calcul > -5 && calcul < 5;
   }
 }
+

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.
   }
 
@@ -25,18 +26,21 @@ public class MonterGrimpeur extends Command {
   public void execute() {
     
     if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){
-      grimpeur.Grimper(0.5);
+      grimpeur.GrimperGauche(0.5);
+      grimpeur.GrimperDroit(0.5);
       System.out.println("monte");
     }
     else {
-      grimpeur.Grimper(0);
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
   }
 
   // Returns true when the command should end.

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

@@ -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;
@@ -18,26 +17,42 @@ public class Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkMax grimpeur1 = new SparkMax(3, 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", 101).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() {
     return grimpeur1.getEncoder().getPosition();
   }
+
   public void Reset() {
     grimpeur1.getEncoder().setPosition(0);
   }
+
   public boolean Limit() {
     return limit.get();
   }
+
   public double PositionFinal() {
-    return EncodeurGrimpeur.getDouble(101);
+    return EncodeurGrimpeur.getDouble(100);
   }
+
   /** Creates a new Grimpeur. */
   public Grimpeur() {
     teb.addDouble("encodeur grimpeur", this::Position);

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

@@ -1,141 +1,149 @@
-/* Generated by Phoenix Tuner X */
+// /* Generated by Phoenix Tuner X */
-package frc.robot.subsystems;
+// package frc.robot.subsystems;
 
-import edu.wpi.first.networktables.GenericEntry;
+// import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DriverStation;
+// import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Timer;
+// import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+// import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+// import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+// import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.Command;
+// import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+// import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import com.ctre.phoenix6.CANBus;
+// import com.ctre.phoenix6.CANBus;
-import com.ctre.phoenix6.controls.SolidColor;
+// import com.ctre.phoenix6.controls.SolidColor;
-import com.ctre.phoenix6.hardware.CANdle;
+// import com.ctre.phoenix6.hardware.CANdle;
-import com.ctre.phoenix6.signals.RGBWColor;
+// import com.ctre.phoenix6.signals.RGBWColor;
 
-/**
+// /**
- * Subsystem that controls an addressable LED strip using a CANdle.
+//  * Subsystem that controls an addressable LED strip using a CANdle.
- */
+//  */
-public class LEDSubsystem extends SubsystemBase {
+// public class LEDSubsystem extends SubsystemBase {
-    Timer _timer;
+//     Timer _timer;
-    ShuffleboardTab teb = Shuffleboard.getTab("teb");
+//     boolean q = true;
-     private GenericEntry equipe = 
+//     ShuffleboardTab teb = Shuffleboard.getTab("teb");
-    teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();  
+//      private GenericEntry equipe = 
-    private final CANBus kCANBus = new CANBus("rio");
+//     teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();  
-    private final CANdle m_candle = new CANdle(17, kCANBus);
+//     private final CANBus kCANBus = new CANBus("rio");
-    public void Bleu(){
+//     private final CANdle m_candle = new CANdle(17, kCANBus);
-        m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(255, 0, 0, 0)));
+//     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 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 Vert(){
-    }
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0)));
-    public void Noir(){
+//     }
+//     public void Noir(){
 
-        m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
-    }
+//     }
-    public void Flash(boolean couleur){
+//     public void Flash(boolean couleur){
-        if(_timer.get() <0.5){
+//         Timer timer = new Timer();
-            if(couleur){
+//         if(timer.get() <0.5){
-                Bleu();
+//             if(couleur){
-            }
+//                 Bleu();
-            else{
+//             }
-                Rouge();
+//             else{
-            }
+//                 Rouge();
-        }
+//             }
-        else{
+//         }
-            Noir();
+//         else{
-            _timer.reset();
+//             Noir();
-        }
+//             timer.reset();
-    }
+//         }
-    public LEDSubsystem() {
+//     }
-        setDefaultCommand(updateLEDs());
+//     public LEDSubsystem() {
-        _timer = new Timer();
+//         setDefaultCommand(updateLEDs());
-        _timer.reset();
+//         _timer = new Timer();
-        _timer.start();
+//         _timer.start();
-    }
+//     }
-    public boolean Equipe(){
+//     public boolean Equipe(){
-        return equipe.getBoolean(false);
+//         return equipe.getBoolean(false);
-    }
+//     }
-    /**
+//     /**
-     * Updates the animations and LEDs of the CANdle.
+//      * Updates the animations and LEDs of the CANdle.
-     *
+//      *
-     * @return Command to run
+//      * @return Command to run
-     */
+//      */
-    public Command updateLEDs() {
+//     public Command updateLEDs() {
-        double temps = DriverStation.getMatchTime();
+//         return run(() -> {
-        return run(() -> {
+//         //    if(q){
-            if(Equipe()){
+//         //         _timer.reset();
-                if(temps > 110){
+//         //         q = false;
-                    Vert();
+//         //    }
-                }
+//             double temps = _timer.get();
-                else if(temps > 88){
+//             System.out.println(temps);
+//             if(Equipe()){
+//                 if(temps > 30){
+//                     Vert();
+//                 }
+//                 else if(temps > 52){
                     
-                    Bleu();
+//                     Bleu();
-                }
+//                 }
-                else if(temps > 85){
+//                 else if(temps > 55){
-                    Flash(true);
+//                     Flash(true);
-                }
+//                 }
-                else if(temps > 63){
+//                 else if(temps > 67){
-                    Rouge();
+//                     Rouge();
-                }
+//                 }
-                else if(temps  > 60){
+//                 else if(temps  > 70){
-                    Flash(false);
+//                     Flash(false);
-                }
+//                 }
-                else if(temps > 33){
+//                 else if(temps > 103){
-                    Bleu();
+//                     Bleu();
-                }
+//                 }
-                else if(temps  > 30){
+//                 else if(temps  > 105){
-                    Flash(true);
+//                     Flash(true);
-                }
+//                 }
-                else if(temps > 13){
+//                 else if(temps > 127){
-                    Rouge();
+//                     Rouge();
-                }
+//                 }
-                else if(temps > 10){
+//                 else if(temps > 130){
-                    Flash(false);
+//                     Flash(false);
-                }
+//                 }
-                else if(temps < 10){
+//                 else if(temps < 140){
-                    Vert();
+//                     Vert();
-                }
+//                 }
-            }
+//             }
-            else{
+//             else{
-                if(temps > 110){
+//                 if(temps > 110){
-                    Vert();
+//                     Vert();
-                }
+//                 }
-                else if(temps > 88){
+//                 else if(temps > 88){
                     
-                    Rouge();
+//                     Rouge();
-                }
+//                 }
-                else if(temps > 85){
+//                 else if(temps > 85){
-                    Flash(false);
+//                     Flash(false);
-                }
+//                 }
-                else if(temps > 63){
+//                 else if(temps > 63){
-                    Bleu();
+//                     Bleu();
-                }
+//                 }
-                else if(temps  > 60){
+//                 else if(temps  > 60){
-                    Flash(true);
+//                     Flash(true);
-                }
+//                 }
-                else if(temps > 33){
+//                 else if(temps > 33){
-                    Rouge();
+//                     Rouge();
-                }
+//                 }
-                else if(temps  > 30){
+//                 else if(temps  > 30){
-                    Flash(false);
+//                     Flash(false);
-                }
+//                 }
-                else if(temps > 13){
+//                 else if(temps > 13){
-                    Bleu();
+//                     Bleu();
-                }
+//                 }
-                else if(temps > 10){
+//                 else if(temps > 10){
-                    Flash(true);
+//                     Flash(true);
-                }
+//                 }
-                else if(temps < 10){
+//                 else if(temps < 10){
-                    Vert();
+//                     Vert();
-                }
+//                 }
-            }
+//             }
-        });
+//             // _timer.stop();
-    }
+            
-}
+//         });
+//     }
+// }
 

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

@@ -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

@@ -69,10 +69,10 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
       //   }
       // }
       if(y1 > y2){
-          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
+          return Math.toDegrees(Math.atan((x2 - x1) /(y2 - y1))) - angle;
         }
         else{
-          return -Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
+          return Math.toDegrees(-Math.atan((x2 - x1) / (y2 - y1))) - angle;
         }
     }
   @Override