big stuff

.vscode/settings.json

@@ -56,5 +56,6 @@
     "edu.wpi.first.math.proto.*",
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
-  ]
+  ],
+  "java.dependency.enableDependencyCheckup": false
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026",
     "teamNumber": 5618
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
 }
 
 java {
@@ -33,7 +33,7 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
-                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    deleteOldFiles = true // Change to true to delete files on roboRIO that no
                                            // longer exist in deploy directory of this project
                 }
             }
@@ -43,7 +43,8 @@ deploy {
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
-// Set to true to use debug for JNI.
+// Set to true to use debug for all targets including JNI, which will drastically impact
+// performance.
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
@@ -88,7 +89,9 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    from sourceSets.main.allSource
+    from('src') { into 'backup/src' }
+    from('vendordeps') { into 'backup/vendordeps' }
+    from('build.gradle') { into 'backup' }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2025'
+        String frcYear = '2026'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

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

@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TirerSimple"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Lancer"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
@@ -14,12 +20,6 @@
                   "pathName": "Depot"
                 }
               },
-              {
-                "type": "named",
-                "data": {
-                  "name": "DescendreBalayeuse"
-                }
-              },
               {
                 "type": "named",
                 "data": {

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
@@ -14,12 +20,6 @@
                   "pathName": "Depot"
                 }
               },
-              {
-                "type": "named",
-                "data": {
-                  "name": "DescendreBalayeuse"
-                }
-              },
               {
                 "type": "named",
                 "data": {

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
@@ -14,12 +20,6 @@
                   "pathName": "Depot"
                 }
               },
-              {
-                "type": "named",
-                "data": {
-                  "name": "DescendreBalayeuse"
-                }
-              },
               {
                 "type": "named",
                 "data": {

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
@@ -14,12 +20,6 @@
                   "pathName": "ChercherMilieuDroite"
                 }
               },
-              {
-                "type": "named",
-                "data": {
-                  "name": "DescendreBalayeuse"
-                }
-              },
               {
                 "type": "named",
                 "data": {

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
@@ -14,12 +20,6 @@
                   "pathName": "ChercherMilieuDroiteProche"
                 }
               },
-              {
-                "type": "named",
-                "data": {
-                  "name": "DescendreBalayeuse"
-                }
-              },
               {
                 "type": "named",
                 "data": {

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
@@ -14,12 +20,6 @@
                   "pathName": "ChercherMilieuGauche"
                 }
               },
-              {
-                "type": "named",
-                "data": {
-                  "name": "DescendreBalayeuse"
-                }
-              },
               {
                 "type": "named",
                 "data": {

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
@@ -14,12 +20,6 @@
                   "pathName": "ChercherMilieuGaucheProche"
                 }
               },
-              {
-                "type": "named",
-                "data": {
-                  "name": "DescendreBalayeuse"
-                }
-              },
               {
                 "type": "named",
                 "data": {

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

@@ -10,6 +10,12 @@
             "pathName": "TirerSimple"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "named",
           "data": {

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": 0.4938659058487873,
         "y": 5.917574893009986
       },
       "prevControl": {
-        "x": 1.7230385164051354,
+        "x": 1.0372895863052785,
         "y": 5.930513552068473
       },
       "nextControl": null,

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

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.5197432239657629,
-        "y": 5.917574893009986
+        "y": 5.930513552068473
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3570328102710407,
+        "x": 1.6971611982881594,
-        "y": 5.982268188302426
+        "y": 5.995206847360913
       },
       "isLocked": false,
       "linkedName": null
@@ -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,
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/settings.json

@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
+  "robotWidth": 0.83,
-  "robotLength": 0.9,
+  "robotLength": 0.87,
   "holonomicMode": true,
   "pathFolders": [
     "Milieu"
@@ -13,23 +13,23 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 74.088,
+  "robotMass": 51.673,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.048,
+  "driveWheelRadius": 0.051,
-  "driveGearing": 5.143,
+  "driveGearing": 6.2,
-  "maxDriveSpeed": 5.45,
+  "maxDriveSpeed": 9.82,
   "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 60.0,
+  "driveCurrentLimit": 120.0,
   "wheelCOF": 1.2,
-  "flModuleX": 0.273,
+  "flModuleX": 0.288925,
-  "flModuleY": 0.273,
+  "flModuleY": 0.269875,
-  "frModuleX": 0.273,
+  "frModuleX": 0.288925,
-  "frModuleY": -0.273,
+  "frModuleY": -0.27,
-  "blModuleX": -0.273,
+  "blModuleX": -0.288925,
-  "blModuleY": 0.273,
+  "blModuleY": 0.269875,
-  "brModuleX": -0.273,
+  "brModuleX": -0.288925,
-  "brModuleY": -0.273,
+  "brModuleY": -0.27,
   "bumperOffsetX": 0.0,
   "bumperOffsetY": 0.0,
   "robotFeatures": []

src/main/java/frc/robot/Commandes.java

@@ -0,0 +1,67 @@
+package frc.robot;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.Balayeuse;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.Demeleur;
+import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.Lanceur;
+import frc.robot.subsystems.PivotBalayeuse;
+
+public class Commandes {
+
+    private final CommandSwerveDrivetrain drivetrain;
+    private final Lanceur lanceur;
+    private final Demeleur demeleur;
+    private final Balayeuse balayeuse;
+    private final Grimpeur grimpeur;
+    private final PivotBalayeuse pivotBalayeuse;
+
+    public Commandes(CommandSwerveDrivetrain drivetrain,
+            Lanceur lanceur,
+            Demeleur demeleur,
+            Balayeuse balayeuse,
+            Grimpeur grimpeur,
+            PivotBalayeuse pivotBalayeuse) {
+        this.drivetrain = drivetrain;
+        this.lanceur = lanceur;
+        this.demeleur = demeleur;
+        this.balayeuse = balayeuse;
+        this.grimpeur = grimpeur;
+        this.pivotBalayeuse = pivotBalayeuse;
+    }
+
+    public double vitesseLanceur() {
+        return Coordinates.diffFromHub(drivetrain.getState().Pose.getTranslation()).getNorm() * 410.57 + 2250;
+    }
+
+    public Command viserLancer() {
+        return viserLancer(() -> 0.0, () -> 0.0);
+    }
+
+    public Command viserLancer(Supplier<Double> vitesseX, Supplier<Double> vitesseY) {
+        return Commands.parallel(
+                drivetrain.viserReservoir(vitesseX, vitesseY),
+                this.lancer());
+    }
+
+    public Command lancer() {
+        return lancer(this::vitesseLanceur);
+    }
+
+    public Command lancer(Supplier<Double> vitesse) {
+        return Commands.parallel(
+                lanceur.lancer(vitesse),
+                Commands.waitUntil(lanceur::setPointAtteint).andThen(demeleur.run()));
+    }
+
+    public Command lancerAspirer() {
+        return Commands.parallel(
+                this.lancer(),
+                balayeuse.aspirer());
+    }
+
+}

src/main/java/frc/robot/Coordinates.java

@@ -0,0 +1,41 @@
+package frc.robot;
+
+import static edu.wpi.first.units.Units.Meters;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+public final class Coordinates {
+    public static final Translation2d kRedHub = new Translation2d(Meters.of(16.5 - 4.6), Meters.of(4.03));
+    public static final Translation2d kBlueHub = new Translation2d(Meters.of(4.6), Meters.of(4.03));
+
+    public static final Translation2d kGrimpeDepotRouge = new Translation2d(Meters.of(16.5 - 1.1), Meters.of(4.9));
+    public static final Translation2d kGrimpeMurRouge = new Translation2d(Meters.of(16.5 - 1.1), Meters.of(3.7));
+    public static final Translation2d kGrimpeDepotBleu = new Translation2d(Meters.of(1.1), Meters.of(3.1));
+    public static final Translation2d kGrimpeMurBleu = new Translation2d(Meters.of(1.1), Meters.of(4.4));
+
+    public static Translation2d diffFromHub(Translation2d robotTranslation) {
+        if (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue) {
+            return kBlueHub.minus(robotTranslation);
+        } else {
+            return kRedHub.minus(robotTranslation);
+        }
+    }
+
+    public static Translation2d diffFromGrimpeMur(Translation2d robotTranslation) {
+        if (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue) {
+            return kGrimpeMurBleu.minus(robotTranslation);
+        } else {
+            return kGrimpeMurRouge.minus(robotTranslation);
+        }
+    }
+
+    public static Translation2d diffFromGrimpeDepot(Translation2d robotTranslation) {
+        if (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue) {
+            return kGrimpeDepotBleu.minus(robotTranslation);
+        } else {
+            return kGrimpeDepotRouge.minus(robotTranslation);
+        }
+    }
+}

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

@@ -0,0 +1,75 @@
+// 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;
+
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class LimeLight3 {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+
+  /** Creates a new LimeLight3. */
+  public LimeLight3() {
+    for (int port = 5800; port <= 5807; port++) {
+      PortForwarder.add(port, "limelight.local", port);
+    }
+  }
+
+  public double[] getBotPoseBlue() {
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_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");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+  }
+
+  public double getTx() {
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+    NetworkTableEntry tx = table.getEntry("tx");
+    return tx.getDouble(0.0);
+  }
+
+  public double getTId() {
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+    NetworkTableEntry tid = table.getEntry("tid");
+    return tid.getDouble(0.0);
+  }
+
+  public double getTA() {
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+    NetworkTableEntry ta = table.getEntry("ta");
+    return ta.getDouble(0.0);
+  }
+
+  public boolean getV() {
+    return LimelightHelpers.getTV("limelight-balaie");
+  }
+
+  public void AprilTag() {
+    pipeline.setNumber(0);
+  }
+
+  public void Forme() {
+    pipeline.setNumber(1);
+  }
+
+  public double Calcule(double x1, double x2, double y1, double y2, double angle) {
+    if (x1 > 4) {
+      return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle) / 90;
+    } else {
+      return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1 / 90;
+    }
+  }
+
+}

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

@@ -0,0 +1,74 @@
+// 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;
+
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class Limelight3G {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+
+  /** Creates a new LimeLight3. */
+  public Limelight3G() {
+    for (int port = 5800; port <= 5807; port++) {
+      PortForwarder.add(port, "limelight.local", port);
+    }
+  }
+
+  public double[] getBotPoseBlue() {
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+  }
+
+  public double[] getBotPoseRed() {
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+  }
+
+  public double getTx() {
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry tx = table.getEntry("tx");
+    return tx.getDouble(0.0);
+  }
+
+  public double getTId() {
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry tid = table.getEntry("tid");
+    return tid.getDouble(0.0);
+  }
+
+  public double getTA() {
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry ta = table.getEntry("ta");
+    return ta.getDouble(0.0);
+  }
+
+  public boolean getV() {
+    return LimelightHelpers.getTV("limelight-tag");
+  }
+
+  public double Calcule(double x1, double x2, double y1, double y2, double 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(90 - ((x2 - x1) / (y2 - y1))) * (180 / Math.PI) + 270 - angle;
+      } else {
+        return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) + 180 - angle;
+      }
+    }
+  }
+}

src/main/java/frc/robot/Robot.java

@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,16 +22,34 @@ public class Robot extends TimedRobot {
   @Override
   public void robotPeriodic() {
     CommandScheduler.getInstance().run();
+    var driveState = m_robotContainer.drivetrain.getState();
+    double headingDeg = driveState.Pose.getRotation().getDegrees();
+    double omegaRps = Units.radiansToRotations(driveState.Speeds.omegaRadiansPerSecond);
+
+    LimelightHelpers.SetRobotOrientation("limelight_tag", headingDeg, 0, 0, 0, 0, 0);
+    var llMeasurement = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2("limelight_tag");
+    var stdDevs = LimelightHelpers.getLimelightDoubleArrayEntry("limelight_tag", "stddevs");
+    var limelightStdDevs = VecBuilder.fill(.5, .5, 9999999);
+    if (stdDevs.exists()) {
+      limelightStdDevs = VecBuilder.fill(stdDevs.get()[6], stdDevs.get()[7], stdDevs.get()[12]);
+    }
+    if (llMeasurement != null && llMeasurement.tagCount > 0 && Math.abs(omegaRps) < 2.0) {
+      m_robotContainer.drivetrain.addVisionMeasurement(llMeasurement.pose, llMeasurement.timestampSeconds,
+          limelightStdDevs);
+    }
   }
 
   @Override
-  public void disabledInit() {}
+  public void disabledInit() {
+  }
 
   @Override
-  public void disabledPeriodic() {}
+  public void disabledPeriodic() {
+  }
 
   @Override
-  public void disabledExit() {}
+  public void disabledExit() {
+  }
 
   @Override
   public void autonomousInit() {
@@ -41,10 +61,12 @@ public class Robot extends TimedRobot {
   }
 
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+  }
 
   @Override
-  public void autonomousExit() {}
+  public void autonomousExit() {
+  }
 
   @Override
   public void teleopInit() {
@@ -54,10 +76,12 @@ public class Robot extends TimedRobot {
   }
 
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+  }
 
   @Override
-  public void teleopExit() {}
+  public void teleopExit() {
+  }
 
   @Override
   public void testInit() {
@@ -65,8 +89,10 @@ public class Robot extends TimedRobot {
   }
 
   @Override
-  public void testPeriodic() {}
+  public void testPeriodic() {
+  }
 
   @Override
-  public void testExit() {}
+  public void testExit() {
+  }
 }

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

@@ -4,71 +4,115 @@
 
 package frc.robot;
 
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 
 import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 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.Lancer;
-import frc.robot.commands.LancerBaseVitesse;
-import frc.robot.commands.Limelighter;
-import frc.robot.commands.ModeOposer;
-import frc.robot.commands.MonterBalyeuse;
-import frc.robot.commands.MonterGrimpeur;
-import frc.robot.commands.ModeAuto.AspirerAuto;
-import frc.robot.commands.ModeAuto.GrimperMur;
-import frc.robot.commands.ModeAuto.GrimperReservoir;
-import frc.robot.commands.ModeAuto.LancerAuto;
 import frc.robot.commands.ModeAuto.RetourMilieuDroite;
 import frc.robot.commands.ModeAuto.RetourMilieuGauche;
-import frc.robot.commands.ModeAuto.TournerA180;
+import frc.robot.commands.ModeAuto.TournerVersMur;
-import frc.robot.commands.ModeAuto.TournerAZero;
+import frc.robot.commands.ModeAuto.TournerVersReservoir;
+import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.Balayeuse;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.Demeleur;
 import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Lanceur;
 import frc.robot.subsystems.Led;
-import frc.robot.subsystems.LimeLight3;
+import frc.robot.subsystems.PivotBalayeuse;
 
 public class RobotContainer {
-  Balayeuse balayeuse = new Balayeuse();
+  private final SendableChooser<Command> autoChooser;
-  Grimpeur grimpeur = new Grimpeur();
+  public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-  Lanceur lanceur = new Lanceur();
+  private final Balayeuse balayeuse = new Balayeuse();
-  LimeLight3 limeLight3 = new LimeLight3();
+  private final PivotBalayeuse pivotBalayeuse = new PivotBalayeuse();
-  Led led = new Led();
+  private final Demeleur demeleur = new Demeleur();
-  CommandXboxController manette = new CommandXboxController(0);
+  private final Grimpeur grimpeur = new Grimpeur();
+  private final Lanceur lanceur = new Lanceur();
+  private final Commandes commandes = new Commandes(drivetrain, lanceur, demeleur, balayeuse, grimpeur, pivotBalayeuse);
+  private final LimeLight3 limeLight3 = new LimeLight3();
+  private final Limelight3G limeLight3G = new Limelight3G();
+  private final Led led = new Led();
+  private final CommandXboxController manette = new CommandXboxController(0);
+  private final CommandXboxController manette1 = new CommandXboxController(1);
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max
+                                                                                    // angular velocity
+
+  /* Setting up bindings for necessary control of the swerve drive platform */
+  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 Telemetry logger = new Telemetry(MaxSpeed);
+
   public RobotContainer() {
+    NamedCommands.registerCommand("GrimperMur", drivetrain.allerGrimpeMur());
+    NamedCommands.registerCommand("GrimperReservoir", drivetrain.allerGrimpeDepot());
+    NamedCommands.registerCommand("Lancer", commandes.lancer());
+    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain, limeLight3G));
+    NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche(drivetrain, limeLight3G));
+    NamedCommands.registerCommand("Limelighter", commandes.viserLancer());
+    NamedCommands.registerCommand("DescendreBalayeuse", pivotBalayeuse.descendre());
+    NamedCommands.registerCommand("Aspirer", balayeuse.aspirer());
+    NamedCommands.registerCommand("TournerA180", new TournerVersReservoir(drivetrain));
+    NamedCommands.registerCommand("TournerAZero", new TournerVersMur(drivetrain));
+    NamedCommands.registerCommand("MonterGrimpeur", grimpeur.sortir());
+    NamedCommands.registerCommand("DescendreGrimpeur", grimpeur.rentrer());
+    autoChooser = AutoBuilder.buildAutoChooser();
+    SmartDashboard.putData("Auto Chooser", autoChooser);
+
     CameraServer.startAutomaticCapture();
+
     configureBindings();
-    NamedCommands.registerCommand("GrimperMur", new GrimperMur());
-    NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir());
-    NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur));
-    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite());
-    NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche());
-    NamedCommands.registerCommand("Limelighter", new Limelighter());
-    NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
-    NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
-    NamedCommands.registerCommand("TournerAZero", new TournerAZero());
-    NamedCommands.registerCommand("TournerA180", new TournerA180());
-    NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
-    NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
   }
 
   private void configureBindings() {
-    manette.a().whileTrue(new Lancer(lanceur,limeLight3,balayeuse,led));
+
-    manette.y().whileTrue(new ModeOposer(lanceur, balayeuse));
+    // Manette 0 (pilote)
-    manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3, balayeuse, led));
+    drivetrain.setDefaultCommand(
-    manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));
+        drivetrain.applyRequest(() -> drive
-    manette.leftTrigger().whileTrue(new DescendreGrimpeur(grimpeur));
+            .withVelocityY(-manette.getLeftX() * MaxSpeed * 0.7)
-    manette.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
+            .withVelocityX(-manette.getLeftY() * MaxSpeed * 0.7)
-    manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
+            .withRotationalRate(-manette.getRightX() * MaxAngularRate)));
-    manette.b().whileTrue(new Aspirer(balayeuse,led));
+    manette.rightBumper().whileTrue(balayeuse.aspirer());
+    manette.povUp().whileTrue(grimpeur.sortir());
+    manette.povDown().whileTrue(grimpeur.rentrer());
+
+    manette.rightTrigger().whileTrue(commandes.lancer());
+    manette.leftTrigger().whileTrue(
+        commandes.viserLancer(() -> -manette.getLeftY() * MaxSpeed * 0.7, () -> -manette.getLeftX() * MaxSpeed * 0.7));
+    manette.leftBumper().whileTrue(pivotBalayeuse.descendre());
+    manette.b().whileTrue(drivetrain.allerGrimpeDepot());
+    manette.x().whileTrue(drivetrain.allerGrimpeMur());
+
+    // Manette 1 (co-pilote)
+    manette1.rightTrigger().whileTrue(balayeuse.aspirer());
+
+    manette1.rightBumper().whileTrue(pivotBalayeuse.monter());
+    manette1.leftTrigger().whileTrue(commandes.lancer(() -> lanceur.ntBasseVitesse()));
+    manette1.leftBumper().whileTrue(pivotBalayeuse.descendre());
+    manette1.x().whileTrue(commandes.lancerAspirer());
+    manette1.b().whileTrue(Commands.parallel(lanceur.inverse(), demeleur.inverse()));
+    manette1.a().whileTrue(demeleur.inverse());
+    manette1.y().whileTrue(balayeuse.ejecter());
+
+    drivetrain.registerTelemetry(logger::telemeterize);
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    return autoChooser.getSelected();
+    // return getAutonomousCommand();
   }
 }

src/main/java/frc/robot/Telemetry.java

@@ -0,0 +1,121 @@
+package frc.robot;
+
+import com.ctre.phoenix6.SignalLogger;
+import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.networktables.DoubleArrayPublisher;
+import edu.wpi.first.networktables.DoublePublisher;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.networktables.StructArrayPublisher;
+import edu.wpi.first.networktables.StructPublisher;
+import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
+import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj.util.Color8Bit;
+
+public class Telemetry {
+    private final double MaxSpeed;
+
+    /**
+     * Construct a telemetry object, with the specified max speed of the robot
+     * 
+     * @param maxSpeed Maximum speed in meters per second
+     */
+    public Telemetry(double maxSpeed) {
+        MaxSpeed = maxSpeed;
+        SignalLogger.start();
+
+        /* Set up the module state Mechanism2d telemetry */
+        for (int i = 0; i < 4; ++i) {
+            SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]);
+        }
+    }
+
+    /* What to publish over networktables for telemetry */
+    private final NetworkTableInstance inst = NetworkTableInstance.getDefault();
+
+    /* Robot swerve drive state */
+    private final NetworkTable driveStateTable = inst.getTable("DriveState");
+    private final StructPublisher<Pose2d> drivePose = driveStateTable.getStructTopic("Pose", Pose2d.struct).publish();
+    private final StructPublisher<ChassisSpeeds> driveSpeeds = driveStateTable.getStructTopic("Speeds", ChassisSpeeds.struct).publish();
+    private final StructArrayPublisher<SwerveModuleState> driveModuleStates = driveStateTable.getStructArrayTopic("ModuleStates", SwerveModuleState.struct).publish();
+    private final StructArrayPublisher<SwerveModuleState> driveModuleTargets = driveStateTable.getStructArrayTopic("ModuleTargets", SwerveModuleState.struct).publish();
+    private final StructArrayPublisher<SwerveModulePosition> driveModulePositions = driveStateTable.getStructArrayTopic("ModulePositions", SwerveModulePosition.struct).publish();
+    private final DoublePublisher driveTimestamp = driveStateTable.getDoubleTopic("Timestamp").publish();
+    private final DoublePublisher driveOdometryFrequency = driveStateTable.getDoubleTopic("OdometryFrequency").publish();
+
+    /* Robot pose for field positioning */
+    private final NetworkTable table = inst.getTable("Pose");
+    private final DoubleArrayPublisher fieldPub = table.getDoubleArrayTopic("robotPose").publish();
+    private final StringPublisher fieldTypePub = table.getStringTopic(".type").publish();
+
+    /* Mechanisms to represent the swerve module states */
+    private final Mechanism2d[] m_moduleMechanisms = new Mechanism2d[] {
+        new Mechanism2d(1, 1),
+        new Mechanism2d(1, 1),
+        new Mechanism2d(1, 1),
+        new Mechanism2d(1, 1),
+    };
+    /* A direction and length changing ligament for speed representation */
+    private final MechanismLigament2d[] m_moduleSpeeds = new MechanismLigament2d[] {
+        m_moduleMechanisms[0].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
+        m_moduleMechanisms[1].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
+        m_moduleMechanisms[2].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
+        m_moduleMechanisms[3].getRoot("RootSpeed", 0.5, 0.5).append(new MechanismLigament2d("Speed", 0.5, 0)),
+    };
+    /* A direction changing and length constant ligament for module direction */
+    private final MechanismLigament2d[] m_moduleDirections = new MechanismLigament2d[] {
+        m_moduleMechanisms[0].getRoot("RootDirection", 0.5, 0.5)
+            .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
+        m_moduleMechanisms[1].getRoot("RootDirection", 0.5, 0.5)
+            .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
+        m_moduleMechanisms[2].getRoot("RootDirection", 0.5, 0.5)
+            .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
+        m_moduleMechanisms[3].getRoot("RootDirection", 0.5, 0.5)
+            .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))),
+    };
+
+    private final double[] m_poseArray = new double[3];
+
+    /** Accept the swerve drive state and telemeterize it to SmartDashboard and SignalLogger. */
+    public void telemeterize(SwerveDriveState state) {
+        /* Telemeterize the swerve drive state */
+        drivePose.set(state.Pose);
+        driveSpeeds.set(state.Speeds);
+        driveModuleStates.set(state.ModuleStates);
+        driveModuleTargets.set(state.ModuleTargets);
+        driveModulePositions.set(state.ModulePositions);
+        driveTimestamp.set(state.Timestamp);
+        driveOdometryFrequency.set(1.0 / state.OdometryPeriod);
+
+        /* Also write to log file */
+        // SignalLogger.writeStruct("DriveState/Pose", Pose2d.struct, state.Pose);
+        // SignalLogger.writeStruct("DriveState/Speeds", ChassisSpeeds.struct, state.Speeds);
+        // SignalLogger.writeStructArray("DriveState/ModuleStates", SwerveModuleState.struct, state.ModuleStates);
+        // SignalLogger.writeStructArray("DriveState/ModuleTargets", SwerveModuleState.struct, state.ModuleTargets);
+        // SignalLogger.writeStructArray("DriveState/ModulePositions", SwerveModulePosition.struct, state.ModulePositions);
+        // SignalLogger.writeDouble("DriveState/OdometryPeriod", state.OdometryPeriod, "seconds");
+
+        /* Telemeterize the pose to a Field2d */
+        fieldTypePub.set("Field2d");
+
+        m_poseArray[0] = state.Pose.getX();
+        m_poseArray[1] = state.Pose.getY();
+        m_poseArray[2] = state.Pose.getRotation().getDegrees();
+        fieldPub.set(m_poseArray);
+
+        /* Telemeterize each module state to a Mechanism2d */
+        for (int i = 0; i < 4; ++i) {
+            m_moduleSpeeds[i].setAngle(state.ModuleStates[i].angle);
+            m_moduleDirections[i].setAngle(state.ModuleStates[i].angle);
+            m_moduleSpeeds[i].setLength(state.ModuleStates[i].speedMetersPerSecond / (2 * MaxSpeed));
+        }
+    }
+}

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

@@ -1,74 +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.commands;
-
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
-import frc.robot.subsystems.Led;
-
-/* 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 Aspirer extends Command {
-  private Balayeuse balayeuse;
-  private Timer timer;
-  private Led led;
-  private double temp;
-  /** Creates a new Aspirer. */
-  public Aspirer(Balayeuse balayeuse, Led led) {
-    this.balayeuse = balayeuse;
-    this.led = led;
-    this.timer = new Timer();
-    addRequirements(balayeuse, led); 
-    this.temp = 0;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    timer.reset();
-    temp = balayeuse.Amp();  
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    timer.start();
-    int nbFois = 0;
-    double moyenneAmp = 0;    
-    if(timer.get() <3){
-      nbFois++;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-    }
-    else{
-      nbFois++;
-      moyenneAmp -= temp;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-      temp = balayeuse.Amp();
-    }
-    if(moyenneAmp < balayeuse.AmpMax()){
-      timer.reset();
-      balayeuse.Balayer(0.5);
-    }
-    else{
-        balayeuse.Balayer(0);
-        led.Jaune2();
-    }
-
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    balayeuse.Balayer(0);
-    timer.stop();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,43 +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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
-
-/* 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 DescendreBalyeuse extends Command {
-  private Balayeuse balayeuse;
-  /** Creates a new Descendre. */
-  public DescendreBalyeuse(Balayeuse balayeuse) {
-    this.balayeuse = balayeuse;
-    addRequirements(balayeuse);
-    // 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(balayeuse.Distance() < balayeuse.EncodeurBalayeuse()){
-      balayeuse.Pivoter(-0.2);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    balayeuse.Pivoter(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,46 +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.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 DescendreGrimpeur extends Command {
-  private Grimpeur grimpeur;  
-  /** Creates a new DescendreGrimpeur. */
-  public DescendreGrimpeur(Grimpeur grimpeur) {
-    this.grimpeur = 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.Grimper(-0.5);
-    }
-    else{
-      grimpeur.Reset();
-      grimpeur.Grimper(0);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,91 +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.commands;
-
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
-import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
-import frc.robot.subsystems.LimeLight3;
-import frc.robot.subsystems.Limelight3G;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class Lancer extends Command {
-  private Lanceur lanceur;
-  private PIDController pidController;
-  private Limelight3G limeLight3G;
-  private Timer timer;
-  private Balayeuse balayeuse;
-  private Led led;
-  private double temp;
-  /** Creates a new Lancer. */
-  public Lancer(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
-    this.lanceur = lanceur;
-    this.balayeuse = balayeuse;
-    this.led = led;
-    this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur, balayeuse, led, limeLight3G);
-    this.temp = 0;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    pidController = new PIDController(0, 0,0, 0);
-    timer.reset();
-    timer.start();
-    temp = lanceur.Amp();    
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    int nbFois = 0;
-
-    double moyenneAmp = 0;
-    if(timer.get() < 3){
-      nbFois++;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-    }
-    else{
-      nbFois++;
-      moyenneAmp -= temp;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-      temp = balayeuse.Amp();
-    }
-    if(moyenneAmp > lanceur.AmpBas() && nbFois > 10){
-      timer.reset();
-      balayeuse.Balayer(0.5);
-      led.Jaune2();
-    }
-    else{
-      double vitesse = (100-limeLight3G.getTA())/lanceur.Vitesse();
-      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
-      lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse){
-        lanceur.Demeler(0.5);
-      }
-    }
-
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    lanceur.Demeler(0);
-    lanceur.Lancer(0);
-    balayeuse.Pivoter(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,91 +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.commands;
-
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
-import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
-import frc.robot.subsystems.LimeLight3;
-import frc.robot.subsystems.Limelight3G;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class LancerBaseVitesse extends Command {
-  private Lanceur lanceur;
-  private PIDController pidController;
-  private Limelight3G limeLight3G;
-  private Timer timer;
-  private Balayeuse balayeuse;
-  private Led led;
-  private double temp;
-  /** Creates a new Lancer. */
-  public LancerBaseVitesse(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
-    this.lanceur = lanceur;
-    this.balayeuse = balayeuse;
-    this.led = led;
-    this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur, balayeuse, led, limeLight3G);
-    this.temp = 0;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    pidController = new PIDController(0, 0,0, 0);
-    timer.reset();
-    timer.start();
-    temp = lanceur.Amp();    
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    int nbFois = 0;
-
-    double moyenneAmp = 0;
-    if(timer.get() < 3){
-      nbFois++;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-    }
-    else{
-      nbFois++;
-      moyenneAmp -= temp;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-      temp = balayeuse.Amp();
-    }
-    if(moyenneAmp > 30 && nbFois > 10){
-      timer.reset();
-      balayeuse.Balayer(0.5);
-      led.Jaune2();
-    }
-    else{
-      double vitesse = 0.4;
-      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
-      lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse){
-        lanceur.Demeler(0.5);
-      }
-    }
-
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    lanceur.Demeler(0);
-    lanceur.Lancer(0);
-    balayeuse.Pivoter(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,33 +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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-/* 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 Limelighter extends Command {
-  /** Creates a new Limelighter. */
-  public Limelighter() {
-    // 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() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,41 +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.commands.ModeAuto;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
-
-/* 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 AspirerAuto extends Command {
-  Balayeuse balayeuse;
-  /** Creates a new AspirerAuto. */
-  public AspirerAuto(Balayeuse balayeuse) {
-    this.balayeuse = balayeuse;
-    addRequirements(balayeuse);
-    // 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() {
-    balayeuse.Balayer(0.5);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    balayeuse.Balayer(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,33 +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.commands.ModeAuto;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-/* 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 {
-  /** Creates a new GrimperMur. */
-  public GrimperMur() {
-    // 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() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,33 +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.commands.ModeAuto;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-/* 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 GrimperReservoir extends Command {
-  /** Creates a new GrimperReservoir. */
-  public GrimperReservoir() {
-    // 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() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,46 +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.commands.ModeAuto;
-
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Lanceur;
-
-/* 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 LancerAuto extends Command {
-  Lanceur lanceur;
-  Timer timer;
-  /** Creates a new LancerAuto. */
-  public LancerAuto(Lanceur lanceur) {
-    this.lanceur = lanceur;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    timer.start();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    lanceur.Lancer(0.5);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    lanceur.Lancer(0);
-    timer.reset();
-    timer.stop();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return timer.get() > 3;
-  }
-}

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

@@ -4,12 +4,41 @@
 
 package frc.robot.commands.ModeAuto;
 
+import static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Limelight3G;
+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 RetourMilieuDroite extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Limelight3G limelight3g;
+  double botx;
+  double boty;
+  double x;
+  double y;
+  double angle;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance = DriverStation.getAlliance(); 
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new RetourMilieu. */
-  public RetourMilieuDroite() {
+  public RetourMilieuDroite(CommandSwerveDrivetrain drivetrain, Limelight3G limelight3g) {
+    this.drivetrain = drivetrain;
+    this.limelight3g = limelight3g;
+    addRequirements(drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -19,15 +48,63 @@ public class RetourMilieuDroite extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(angle < 0){
+      angle = angle + 360;
+    }
+    if(alliance.get() == Alliance.Blue){
+      y = 0.639;
+      x = 2.305;
+      angle = 0;
+      if(limelight3g.getV()){
+        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));
+        }
+        else{
+            if(botx < 6){
+              drivetrain.setControl(drive.withVelocityX(y-boty));
+            }
+            else{
+              drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+            }
+        }
+      }
+      else{
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() <angle +180){
+          drivetrain.setControl(drive.withRotationalRate(0.5));
+        }
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=angle +180){
+    
+          drivetrain.setControl(drive.withRotationalRate(-0.5));
+        }
+       }
+      }
+     }
+     else{
+      y = 7.380;
+      x = 13.963;
+      angle = 180;
+      if(limelight3g.getV()){
+    }
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+      drivetrain.setControl(drive.withRotationalRate(0.5));
+    }
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+      drivetrain.setControl(drive.withRotationalRate(-0.5));
+    }
+  }
+}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
   }
 }

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

@@ -4,12 +4,41 @@
 
 package frc.robot.commands.ModeAuto;
 
+import static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Limelight3G;
+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 RetourMilieuGauche extends Command {
-  /** Creates a new RetourMilieuGauche. */
+  CommandSwerveDrivetrain drivetrain;
-  public RetourMilieuGauche() {
+  Limelight3G limelight3g;
+  double botx;
+  double boty;
+  double x;
+  double y;
+  double angle;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance = DriverStation.getAlliance(); 
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new RetourMilieu. */
+  public RetourMilieuGauche(CommandSwerveDrivetrain drivetrain, Limelight3G limelight3g) {
+    this.drivetrain = drivetrain;
+    this.limelight3g = limelight3g;
+    addRequirements(drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -19,15 +48,85 @@ public class RetourMilieuGauche extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(angle < 0){
+      angle = angle + 360;
+    }
+    double[] BotPose = new double[6];
+    BotPose = limelight3g.getBotPoseBlue();
+    botx = BotPose[0];
+    boty = BotPose[1];
+    
+    if(alliance.get() == Alliance.Blue){
+      y = 7.380;
+      x = 2.305;
+      angle = 0;
+      if(limelight3g.getV()){
+        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));
+        }
+        else{
+            if(botx < 6){
+              drivetrain.setControl(drive.withVelocityX(y-boty));
+            }
+            else{
+              drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+            }
+        }
+      }
+      else{
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() <angle +180){
+          drivetrain.setControl(drive.withRotationalRate(0.5));
+        }
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=angle +180){
+    
+          drivetrain.setControl(drive.withRotationalRate(-0.5));
+        }
+       }
+      }
+     }
+     else{
+      y = 0.639;
+      x = 13.963;
+      angle = 180;
+      if(limelight3g.getV()){
+        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));
+        }
+        else{
+            if(botx > 10){
+              drivetrain.setControl(drive.withVelocityX(y-boty));
+            }
+            else{
+              drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+            }
+        }
+      }
+      else{
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+          drivetrain.setControl(drive.withRotationalRate(-0.5));
+        }
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=180){
+    
+          drivetrain.setControl(drive.withRotationalRate(0.5));
+        }
+       }
+      }
+     }
+     
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
   }
 }

src/main/java/frc/robot/commands/ModeAuto/TournerA180.java

@@ -1,33 +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.commands.ModeAuto;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-/* 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 TournerA180 extends Command {
-  /** Creates a new TournerA180. */
-  public TournerA180() {
-    // 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() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,33 +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.commands.ModeAuto;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-/* 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 TournerAZero extends Command {
-  /** Creates a new TournerAZero. */
-  public TournerAZero() {
-    // 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() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -0,0 +1,70 @@
+// 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 com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+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 static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+/* 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 TournerVersMur extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Optional<Alliance> alliance = DriverStation.getAlliance();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  double force;
+  double angle;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new TournerAZero. */
+  public TournerVersMur(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() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(alliance.get() == Alliance.Blue){
+      force = 0.5;
+      angle = 0;
+    }
+    else{
+      force = -0.5;
+      angle = 180;
+    }
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
+    }
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 10;
+  }
+}

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

@@ -0,0 +1,72 @@
+// 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 com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+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 static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+/* 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 TournerVersReservoir extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Optional<Alliance> alliance = DriverStation.getAlliance();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  double force;
+  double angle;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new TournerAZero. */
+  public TournerVersReservoir(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() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(alliance.isPresent()){
+     if(alliance.get() == Alliance.Blue){
+      force = 0.5;
+      angle = 180;
+    }
+    else{
+      force = -0.5;
+      angle = 0;
+    } 
+    }
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
+    }
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
+  }
+}

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

@@ -1,48 +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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
-import frc.robot.subsystems.Lanceur;
-/* 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 ModeOposer extends Command {
-  private Lanceur lanceur;
-  private Balayeuse balayeuse;
-  /** Creates a new Lancer. */
-  public ModeOposer(Lanceur lanceur, Balayeuse balayeuse) {
-    this.lanceur = lanceur;
-    this.balayeuse = balayeuse;
-    addRequirements(lanceur ,balayeuse);
-    // 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() {
-    lanceur.Lancer(-0.2);
-    lanceur.Demeler(-0.2);
-    balayeuse.Balayer(-0.2);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    lanceur.Demeler(0);
-    lanceur.Lancer(0);
-    balayeuse.Balayer(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,47 +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.commands;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
-
-/* 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 MonterBalyeuse extends Command {
-  private Balayeuse balayeuse;
-  /** Creates a new MonterBalyeuse. */
-  public MonterBalyeuse(Balayeuse balayeuse) {
-    this.balayeuse = balayeuse;
-    addRequirements(balayeuse);
-    // 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(!balayeuse.GetLimiSwtich()){
-      balayeuse.Pivoter(0.2);
-    }
-    else{
-      balayeuse.Reset();
-      balayeuse.Pivoter(0);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-      balayeuse.Pivoter(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,42 +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.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 MonterGrimpeur extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new MonterGrimpeur. */
-  public MonterGrimpeur(Grimpeur grimpeur) {
-    this.grimpeur = 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.Position() < grimpeur.PositionFinal()){
-      grimpeur.Grimper(0.5);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

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

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

@@ -5,59 +5,42 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkFlex;
-import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.Timer;
 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;
 
 public class Balayeuse extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkFlex Balaye1 = new SparkFlex(5, MotorType.kBrushless);
+  SparkFlex moteurBas = new SparkFlex(2, MotorType.kBrushless);
-  SparkFlex Balaye2 = new SparkFlex(6, MotorType.kBrushless);
+  SparkFlex moteurHaut = new SparkFlex(20, MotorType.kBrushless);
-  SparkMax Pivot = new SparkMax(7, MotorType.kBrushless);
+
-  DigitalInput limit = new DigitalInput(0);
+  private final double vitesseMoteurBas = -0.5;
-  private GenericEntry EncodeurBalayeuse =
+  private final double vitesseMoteurHaut = -0.2;
-  teb.add("Position bas balayeuse", 10).getEntry();
+
-  private GenericEntry AmpBaleyeuse =
+  public Command balaye(double vitesseBas, double vitesseHaut) {
-  teb.add("Ampérage Baleyeuse", 40).getEntry();
+    return startEnd(
-  public void Balayer(double vitesse){
+        () -> {
-    Balaye1.set(vitesse);
+          moteurBas.set(vitesseBas);
-    Balaye2.set(vitesse);
+          moteurHaut.set(vitesseHaut);
+        }, () -> {
+          moteurBas.set(0);
+          moteurHaut.set(0);
+        });
   }
-  public void Pivoter(double vitesse){
+
-    Pivot.set(vitesse);
+  public Command aspirer() {
+    return balaye(vitesseMoteurBas, vitesseMoteurHaut);
   }
-  public double Distance(){
+
-    return Pivot.getEncoder().getPosition();
+  public Command ejecter() {
-  } 
+    return balaye(-vitesseMoteurBas, -vitesseMoteurHaut);
-  public void Reset(){
-    Pivot.getEncoder().setPosition(0);
-  }
-  public boolean GetLimiSwtich(){
-    return limit.get();
-  }
-  public double Amp(){
-    return Balaye2.getOutputCurrent();
-  }
-  public double AmpMax(){
-    return AmpBaleyeuse.getDouble(40);
-  }
-  public void Temps(){
-    Timer timer = new Timer();
-    timer.start();
-  }
-  public double EncodeurBalayeuse(){
-    return EncodeurBalayeuse.getDouble(10);
   }
+
   /** Creates a new Balayeuse. */
   public Balayeuse() {
-    teb.addBoolean("limit balayeuse", this::GetLimiSwtich);
-    teb.addDouble("encodeur balayeuse", this::Distance);
   }
 
   @Override

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

@@ -0,0 +1,375 @@
+package frc.robot.subsystems;
+
+import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Volts;
+
+import java.util.Optional;
+import java.util.function.Supplier;
+
+import com.ctre.phoenix6.SignalLogger;
+import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+import com.ctre.phoenix6.swerve.SwerveRequest.FieldCentricFacingAngle;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.Notifier;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import frc.robot.Coordinates;
+import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain;
+
+/**
+ * Class that extends the Phoenix 6 SwerveDrivetrain class and implements
+ * Subsystem so it can easily be used in command-based projects.
+ *
+ * Generated by the 2026 Tuner X Swerve Project Generator
+ * https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
+ */
+public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
+    private static final double kSimLoopPeriod = 0.004; // 4 ms
+    private Notifier m_simNotifier = null;
+    private double m_lastSimTime;
+    Pigeon2 pigeon2;
+
+    /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
+    private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
+    /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
+    private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg;
+    /* Keep track if we've ever applied the operator perspective before or not */
+    private boolean m_hasAppliedOperatorPerspective = false;
+    /* Swerve requests to apply during SysId characterization */
+    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.
+     */
+    @SuppressWarnings("unused")
+    private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
+            new SysIdRoutine.Config(
+                    null, // Use default ramp rate (1 V/s)
+                    Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
+                    null, // Use default timeout (10 s)
+                    // Log state with SignalLogger class
+                    state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())),
+            new SysIdRoutine.Mechanism(
+                    output -> setControl(m_translationCharacterization.withVolts(output)),
+                    null,
+                    this));
+
+    /*
+     * SysId routine for characterizing steer. This is used to find PID gains for
+     * the steer motors.
+     */
+    @SuppressWarnings("unused")
+    private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
+            new SysIdRoutine.Config(
+                    null, // Use default ramp rate (1 V/s)
+                    Volts.of(7), // Use dynamic voltage of 7 V
+                    null, // Use default timeout (10 s)
+                    // Log state with SignalLogger class
+                    state -> SignalLogger.writeString("SysIdSteer_State", state.toString())),
+            new SysIdRoutine.Mechanism(
+                    volts -> setControl(m_steerCharacterization.withVolts(volts)),
+                    null,
+                    this));
+
+    /*
+     * SysId routine for characterizing rotation.
+     * This is used to find PID gains for the FieldCentricFacingAngle
+     * HeadingController.
+     * See the documentation of SwerveRequest.SysIdSwerveRotation for info on
+     * importing the log to SysId.
+     */
+    @SuppressWarnings("unused")
+    private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
+            new SysIdRoutine.Config(
+                    /* This is in radians per second², but SysId only supports "volts per second" */
+                    Volts.of(Math.PI / 6).per(Second),
+                    /* This is in radians per second, but SysId only supports "volts" */
+                    Volts.of(Math.PI),
+                    null, // Use default timeout (10 s)
+                    // Log state with SignalLogger class
+                    state -> SignalLogger.writeString("SysIdRotation_State", state.toString())),
+            new SysIdRoutine.Mechanism(
+                    output -> {
+                        /* output is actually radians per second, but SysId only supports "volts" */
+                        setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
+                        /* also log the requested output for SysId */
+                        SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
+                    },
+                    null,
+                    this));
+
+    private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
+
+    private void configureAutoBuilder() {
+        try {
+            RobotConfig config = RobotConfig.fromGUISettings();
+            AutoBuilder.configure(
+                    () -> getState().Pose,
+                    this::resetPose,
+                    () -> getState().Speeds,
+                    (speeds, feedforwards) -> setControl(
+                            m_pathApplyRobotSpeeds.withSpeeds(ChassisSpeeds.discretize(speeds, 0.020))
+                                    .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
+                                    .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())),
+                    new PPHolonomicDriveController(
+                            new PIDConstants(10, 0, 0),
+                            new PIDConstants(7, 0, 0)),
+                    config,
+                    () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+                    this);
+        } catch (Exception ex) {
+            DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder",
+                    ex.getStackTrace());
+        }
+    }
+
+    /**
+     * Constructs a CTRE SwerveDrivetrain using the specified constants.
+     * <p>
+     * This constructs the underlying hardware devices, so users should not
+     * construct
+     * 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
+     */
+    public CommandSwerveDrivetrain(
+            SwerveDrivetrainConstants drivetrainConstants,
+            SwerveModuleConstants<?, ?, ?>... modules) {
+        super(drivetrainConstants, modules);
+        if (Utils.isSimulation()) {
+            startSimThread();
+        }
+        configureAutoBuilder();
+    }
+
+    /**
+     * Constructs a CTRE SwerveDrivetrain using the specified constants.
+     * <p>
+     * This constructs the underlying hardware devices, so users should not
+     * construct
+     * 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
+     *                                unspecified or set to 0 Hz, this is 250 Hz on
+     *                                CAN FD, and 100 Hz on CAN 2.0.
+     * @param modules                 Constants for each specific module
+     */
+    public CommandSwerveDrivetrain(
+            SwerveDrivetrainConstants drivetrainConstants,
+            double odometryUpdateFrequency,
+            SwerveModuleConstants<?, ?, ?>... modules) {
+        super(drivetrainConstants, odometryUpdateFrequency, modules);
+        if (Utils.isSimulation()) {
+            startSimThread();
+        }
+        configureAutoBuilder();
+    }
+
+    /**
+     * Constructs a CTRE SwerveDrivetrain using the specified constants.
+     * <p>
+     * This constructs the underlying hardware devices, so users should not
+     * construct
+     * 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
+     *                                  unspecified or set to 0 Hz, this is 250 Hz
+     *                                  on
+     *                                  CAN FD, and 100 Hz on CAN 2.0.
+     * @param odometryStandardDeviation The standard deviation for odometry
+     *                                  calculation
+     *                                  in the form [x, y, theta]ᵀ, with units in
+     *                                  meters
+     *                                  and radians
+     * @param visionStandardDeviation   The standard deviation for vision
+     *                                  calculation
+     *                                  in the form [x, y, theta]ᵀ, with units in
+     *                                  meters
+     *                                  and radians
+     * @param modules                   Constants for each specific module
+     */
+    public CommandSwerveDrivetrain(
+            SwerveDrivetrainConstants drivetrainConstants,
+            double odometryUpdateFrequency,
+            Matrix<N3, N1> odometryStandardDeviation,
+            Matrix<N3, N1> visionStandardDeviation,
+            SwerveModuleConstants<?, ?, ?>... modules) {
+        super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation,
+                modules);
+        if (Utils.isSimulation()) {
+            startSimThread();
+        }
+        configureAutoBuilder();
+    }
+
+    /**
+     * Returns a command that applies the specified control request to this swerve
+     * drivetrain.
+     *
+     * @param request Function returning the request to apply
+     * @return Command to run
+     */
+    public Command applyRequest(Supplier<SwerveRequest> request) {
+        return run(() -> this.setControl(request.get()));
+    }
+
+    @Override
+    public void periodic() {
+        /*
+         * 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.
+         * This allows us to correct the perspective in case the robot code restarts
+         * mid-match.
+         * Otherwise, only check and apply the operator perspective if the DS is
+         * disabled.
+         * This ensures driving behavior doesn't change until an explicit disable event
+         * occurs during testing.
+         */
+        if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
+            DriverStation.getAlliance().ifPresent(allianceColor -> {
+                setOperatorPerspectiveForward(
+                        allianceColor == Alliance.Red
+                                ? kRedAlliancePerspectiveRotation
+                                : kBlueAlliancePerspectiveRotation);
+                m_hasAppliedOperatorPerspective = true;
+            });
+        }
+    }
+
+    private void startSimThread() {
+        m_lastSimTime = Utils.getCurrentTimeSeconds();
+
+        /* Run simulation at a faster rate so PID gains behave more reasonably */
+        m_simNotifier = new Notifier(() -> {
+            final double currentTime = Utils.getCurrentTimeSeconds();
+            double deltaTime = currentTime - m_lastSimTime;
+            m_lastSimTime = currentTime;
+
+            /* use the measured time delta, get battery voltage from WPILib */
+            updateSimState(deltaTime, RobotController.getBatteryVoltage());
+        });
+        m_simNotifier.startPeriodic(kSimLoopPeriod);
+    }
+
+    /**
+     * Adds a vision measurement to the Kalman Filter. This will correct the
+     * odometry pose estimate
+     * while still accounting for measurement noise.
+     *
+     * @param visionRobotPoseMeters The pose of the robot as measured by the vision
+     *                              camera.
+     * @param timestampSeconds      The timestamp of the vision measurement in
+     *                              seconds.
+     */
+    @Override
+    public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
+        super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds));
+    }
+
+    /**
+     * Adds a vision measurement to the Kalman Filter. This will correct the
+     * odometry pose estimate
+     * while still accounting for measurement noise.
+     * <p>
+     * Note that the vision measurement standard deviations passed into this method
+     * will continue to apply to future measurements until a subsequent call to
+     * {@link #setVisionMeasurementStdDevs(Matrix)} or this method.
+     *
+     * @param visionRobotPoseMeters    The pose of the robot as measured by the
+     *                                 vision camera.
+     * @param timestampSeconds         The timestamp of the vision measurement in
+     *                                 seconds.
+     * @param visionMeasurementStdDevs Standard deviations of the vision pose
+     *                                 measurement
+     *                                 in the form [x, y, theta]ᵀ, with units in
+     *                                 meters and radians.
+     */
+    @Override
+    public void addVisionMeasurement(
+            Pose2d visionRobotPoseMeters,
+            double timestampSeconds,
+            Matrix<N3, N1> visionMeasurementStdDevs) {
+        super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds),
+                visionMeasurementStdDevs);
+    }
+
+    /**
+     * Return the pose at a given timestamp, if the buffer is not empty.
+     *
+     * @param timestampSeconds The timestamp of the pose in seconds.
+     * @return The pose at the given timestamp (or Optional.empty() if the buffer is
+     *         empty).
+     */
+    @Override
+    public Optional<Pose2d> samplePoseAt(double timestampSeconds) {
+        return super.samplePoseAt(Utils.fpgaToCurrentTime(timestampSeconds));
+    }
+
+    private SwerveRequest.FieldCentricFacingAngle fieldCentricFacingAngle = new FieldCentricFacingAngle()
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage).withHeadingPID(7, 0, 0);
+
+    public Command viserReservoir(Supplier<Double> velocityX, Supplier<Double> velocityY) {
+        return runEnd(() -> {
+            Translation2d diff = Coordinates.diffFromHub(getState().Pose.getTranslation());
+            Rotation2d angle = diff.getAngle();
+            setControl(fieldCentricFacingAngle
+                    .withTargetDirection(angle)
+                    .withVelocityX(velocityX.get())
+                    .withVelocityY(velocityY.get()));
+        }, () -> setControl(fieldCentricFacingAngle.withVelocityX(0).withVelocityY(0)));
+    }
+
+    public Command allerGrimper(Supplier<Translation2d> diffSupplier) {
+        return runEnd(() -> {
+            Translation2d diff = diffSupplier.get();
+            Rotation2d angle = diff.getAngle().rotateBy(new Rotation2d(Degrees.of(-90)));
+            setControl(fieldCentricFacingAngle
+                    .withTargetDirection(angle)
+                    .withVelocityX(diff.getX())
+                    .withVelocityY(diff.getY()));
+        }, () -> setControl(fieldCentricFacingAngle.withVelocityX(0).withVelocityY(0)));
+    }
+
+    public Command allerGrimpeMur() {
+        return allerGrimper(() -> Coordinates.diffFromGrimpeMur(getState().Pose.getTranslation()));
+    }
+
+    public Command allerGrimpeDepot() {
+        return allerGrimper(() -> Coordinates.diffFromGrimpeDepot(getState().Pose.getTranslation()));
+    }
+}

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

@@ -0,0 +1,33 @@
+// 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.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Demeleur extends SubsystemBase {
+
+  SparkMax moteur = new SparkMax(19, MotorType.kBrushless);
+
+  /** Creates a new Demeleur. */
+  public Demeleur() {
+  }
+
+  public Command run() {
+    return startEnd(() -> moteur.set(1), () -> moteur.set(0));
+  }
+
+  public Command inverse() {
+    return startEnd(() -> moteur.set(-0.2), () -> moteur.set(0));
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -4,48 +4,76 @@
 
 package frc.robot.subsystems;
 
-import com.revrobotics.spark.SparkMax;
+import com.revrobotics.PersistMode;
-import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SoftLimitConfig;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 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;
 
 public class Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkMax grimpeur1 = new SparkMax(8,MotorType.kBrushless);
+  SparkMax moteur1 = new SparkMax(3, MotorType.kBrushless);
-  SparkMax grimpeur2 = new SparkMax(9,MotorType.kBrushless);
+  SparkMax moteur2 = new SparkMax(12, MotorType.kBrushless);
-  SparkMaxConfig slaveConfig = new SparkMaxConfig();
+  RelativeEncoder encoder1 = moteur1.getEncoder();
-  DigitalInput limit = new DigitalInput(1);
+  RelativeEncoder encoder2 = moteur2.getEncoder();
-    private GenericEntry EncodeurGrimpeur =
+
-  teb.add("Position haut grimpeur", 10).getEntry();
+  private double vitesseSortir = 0.5;
-  public void Grimper(double vitesse){
+  private double vitesseEntrer = -0.4;
-    grimpeur1.set(vitesse);
+
-    grimpeur2.set(vitesse);
+  private GenericEntry ntEncodeurGrimpeur = teb.add("Position haut grimpeur", 101).getEntry();
-  }
+
-  public double Position(){
+  private double maxEncodeur = ntEncodeurGrimpeur.getDouble(101);
-    return grimpeur1.getEncoder().getPosition();
+
-  }
+  DigitalInput limit = new DigitalInput(0);
-  public void Reset(){
+
-    grimpeur1.getEncoder().setPosition(0);
-  }
-  public boolean Limit(){
-    return limit.get();
-  }
-  public double PositionFinal(){
-    return EncodeurGrimpeur.getDouble(10);
-  }
-  /** Creates a new Grimpeur. */
   public Grimpeur() {
-    teb.addDouble("encodeur grimpeur", this::Position);
+    teb.addDouble("encodeur grimpeur", encoder1::getPosition);
-    teb.addBoolean("limit grimpeur", this::Limit);
+    teb.addBoolean("limit grimpeur", limit::get);
+    configMoteurs();
+  }
+
+  private void configMoteurs() {
+    SparkBaseConfig configMoteur = new SparkMaxConfig().apply(
+        new SoftLimitConfig().forwardSoftLimit(maxEncodeur).forwardSoftLimitEnabled(true)
+            .reverseSoftLimit(0).reverseSoftLimitEnabled(true))
+        .openLoopRampRate(0.1)
+        .idleMode(IdleMode.kBrake);
+    moteur1.configure(configMoteur, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+    moteur2.configure(configMoteur.follow(moteur1), ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+  }
+
+  public Command sortir() {
+    return startEnd(() -> moteur1.set(vitesseSortir), () -> moteur1.set(0))
+        .until(() -> moteur1.getForwardSoftLimit().isReached() || moteur2.getForwardSoftLimit().isReached());
+  }
+
+  public Command rentrer() {
+    return startEnd(() -> moteur1.set(vitesseEntrer), () -> moteur1.set(0))
+        .until(() -> moteur1.getReverseSoftLimit().isReached() || moteur2.getReverseSoftLimit().isReached());
   }
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    if (limit.get()) {
+      encoder1.setPosition(0);
+      encoder2.setPosition(0);
+    }
+
+    double newEncoderMax = ntEncodeurGrimpeur.getDouble(maxEncodeur);
+    if (newEncoderMax != maxEncodeur) {
+      maxEncodeur = newEncoderMax;
+      configMoteurs();
+    }
   }
 }

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

@@ -4,45 +4,71 @@
 
 package frc.robot.subsystems;
 
+import java.util.function.Supplier;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.ClosedLoopConfig;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
 
 import edu.wpi.first.networktables.GenericEntry;
 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;
 
 public class Lanceur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkFlex moteur1 = new SparkFlex(2, MotorType.kBrushless);
+
-  SparkFlex moteur2 = new SparkFlex(3, MotorType.kBrushless);
+  SparkFlex moteur1 = new SparkFlex(15, MotorType.kBrushless);
-  SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
+  SparkFlex moteur2 = new SparkFlex(18, MotorType.kBrushless);
-  GenericEntry vitesse = 
+
-  teb.add("vitesse lanceur",100).getEntry();
+  RelativeEncoder encoder = moteur1.getEncoder();
-  GenericEntry AmpLanceur = 
+
-  teb.add("ampérage lanceur",30).getEntry();
+  GenericEntry vitesse = teb.add("vitesse lanceur", 4000).getEntry();
-  public void Lancer(double vitesse){
+  GenericEntry AmpLanceur = teb.add("ampérage lanceur", 30).getEntry();
-    moteur1.set(vitesse);
+
-    moteur2.set(-vitesse);
-  }
-  public void Demeler(double vitesse){
-    Demeleur.set(vitesse);
-  }
-  public double Vitesse(){
-    return moteur1.getEncoder().getVelocity();
-  }
-  public double Amp(){
-    return moteur1.getOutputCurrent();
-  }
-  public double AmpBas(){
-    return AmpLanceur.getDouble(30);
-  }
-  public double vitesseDemander(){
-    return vitesse.getDouble(100);
-  }
   /** Creates a new Lanceur. */
   public Lanceur() {
-    teb.addDouble("amperage lanceur", this::Amp);
+    teb.addDouble("amperage lanceur", moteur1::getOutputCurrent);
+    teb.addDouble("vitesse actuelle", encoder::getVelocity);
+    configMoteurs();
+  }
+
+  private void configMoteurs() {
+    SparkBaseConfig configMoteur = new SparkMaxConfig().apply(
+        new ClosedLoopConfig().pid(0.0007, 0, 0))
+        .openLoopRampRate(0.1)
+        .idleMode(IdleMode.kCoast);
+    moteur1.configure(configMoteur, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+    moteur2.configure(configMoteur.follow(moteur1), ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+  }
+
+  public Command lancer(Supplier<Double> vitesse) {
+    return runEnd(() -> moteur1.getClosedLoopController().setSetpoint(vitesse.get(), ControlType.kVelocity),
+        () -> moteur1.set(0));
+  }
+
+  public Command inverse() {
+    return startEnd(() -> moteur1.set(-0.2), () -> moteur1.set(0));
+  }
+
+  public double getVitesse() {
+    return encoder.getVelocity();
+  }
+
+  public boolean setPointAtteint() {
+    return getVitesse() >= moteur1.getClosedLoopController().getSetpoint() * 0.95;
+  }
+
+  public double ntBasseVitesse() {
+    return vitesse.getDouble(4000);
   }
 
   @Override
@@ -50,4 +76,3 @@ public class Lanceur extends SubsystemBase {
     // This method will be called once per scheduler run
   }
 }
-

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

@@ -18,67 +18,76 @@ 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();
-  CANdle CANDle = new CANdle(7);
+  @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, 255,0,56,8);
-    CANDle.setLEDs(0, 0, 255,0,72,8);
+    // CANDle.setLEDs(0, 0, 255,0,72,8);
-    CANDle.setLEDs(0, 0, 255,0,88,8);
+    // CANDle.setLEDs(0, 0, 255,0,88,8);
-    CANDle.setLEDs(0, 0, 255,0,104,8);
+    // CANDle.setLEDs(0, 0, 255,0,104,8);
-    CANDle.setLEDs(0, 0, 255,0,120,8);
+    // CANDle.setLEDs(0, 0, 255,0,120,8);
-    CANDle.setLEDs(0, 0, 255,0,136,8);
+    // 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, 0,0,56,8);
-    CANDle.setLEDs(0, 255, 0,0,72,8);
+    // CANDle.setLEDs(0, 255, 0,0,72,8);
-    CANDle.setLEDs(0, 255, 0,0,88,8);
+    // CANDle.setLEDs(0, 255, 0,0,88,8);
-    CANDle.setLEDs(0, 255, 0,0,104,8);
+    // CANDle.setLEDs(0, 255, 0,0,104,8);
-    CANDle.setLEDs(0, 255, 0,0,120,8);
+    // CANDle.setLEDs(0, 255, 0,0,120,8);
-    CANDle.setLEDs(0, 255, 0,0,136,8);
+    // 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, 0,0,48,8);
-    CANDle.setLEDs(255, 0, 0,0,64,8);
+    // CANDle.setLEDs(255, 0, 0,0,64,8);
-    CANDle.setLEDs(255, 0, 0,0,80,8);
+    // CANDle.setLEDs(255, 0, 0,0,80,8);
-    CANDle.setLEDs(255, 0, 0,0,96,8);
+    // CANDle.setLEDs(255, 0, 0,0,96,8);
-    CANDle.setLEDs(255, 0, 0,0,112,8);
+    // CANDle.setLEDs(255, 0, 0,0,112,8);
-    CANDle.setLEDs(255, 0, 0,0,128,8);
+    // 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, 0,0,56,8);
-    CANDle.setLEDs(255, 255, 0,0,72,8);
+    // CANDle.setLEDs(255, 255, 0,0,72,8);
-    CANDle.setLEDs(255, 255, 0,0,88,8);
+    // CANDle.setLEDs(255, 255, 0,0,88,8);
-    CANDle.setLEDs(255, 255, 0,0,104,8);
+    // CANDle.setLEDs(255, 255, 0,0,104,8);
-    CANDle.setLEDs(255, 255, 0,0,120,8);
+    // CANDle.setLEDs(255, 255, 0,0,120,8);
-    CANDle.setLEDs(255, 255, 0,0,136,8);
+    // CANDle.setLEDs(255, 255, 0,0,136,8);
   }
-  public void Vert2(){
+  @SuppressWarnings("removal")
-    CANDle.setLEDs(0, 255, 0,0,8,8);
+  public void Rouge2(){
-    CANDle.setLEDs(0, 255, 0,0,24,8);
+    CANDle.setLEDs(255, 0, 0,0,8,8);
-    CANDle.setLEDs(0, 255, 0,0,40,8);
+    CANDle.setLEDs(255, 0, 0,0,24,8);
-    CANDle.setLEDs(0, 255, 0,0,56,8);
+    CANDle.setLEDs(255, 0, 0,0,40,8);
-    CANDle.setLEDs(0, 255, 0,0,72,8);
+    // CANDle.setLEDs(255, 0, 0,0,56,8);
-    CANDle.setLEDs(0, 255, 0,0,88,8);
+    // CANDle.setLEDs(255, 0, 0,0,72,8);
-    CANDle.setLEDs(0, 255, 0,0,104,8);
+    // CANDle.setLEDs(255, 0, 0,0,88,8);
-    CANDle.setLEDs(0, 255, 0,0,120,8);
+    // CANDle.setLEDs(255, 0, 0,0,104,8);
-    CANDle.setLEDs(0, 255, 0,0,136,8);
+    // 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);
   }
@@ -90,6 +99,7 @@ public class Led extends SubsystemBase {
 
   @Override
   public void periodic() {
+    
     double temps = DriverStation.getMatchTime();
     if(temps > 20 && temps < 30){
       Vert1();
@@ -129,5 +139,7 @@ public class Led extends SubsystemBase {
       }
     }
     // This method will be called once per scheduler run
+    
   }
+    
 }

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

@@ -1,74 +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 edu.wpi.first.net.PortForwarder;
-import edu.wpi.first.networktables.NetworkTable;
-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-balon");
-  NetworkTableEntry pipeline = table.getEntry("pipeline");
-  /** Creates a new LimeLight3. */
-  public LimeLight3() {
-        for(int port = 5800; port <=5807; port++){
-      PortForwarder.add(port, "limelight.local", port);
-    }
-  }
-  public double[] getBotPoseBlue(){
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
-    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
-    return BotPose;
-    }
-    public double[] getBotPoseRed(){
-      NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
-    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
-    return BotPose;
-    }
-    public double getTx(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
-      NetworkTableEntry tx = table.getEntry("tx");
-      return tx.getDouble(0.0);
-    }
-    public double getTId(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
-      NetworkTableEntry tid = table.getEntry("tid");
-      return tid.getDouble(0.0);
-    }
-    public double getTA(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
-      NetworkTableEntry ta = table.getEntry("ta");
-      return ta.getDouble(0.0);
-    }
-    public boolean getV(){
-      return LimelightHelpers.getTV("limelight-balon");
-    }
-    public void AprilTag(){
-      pipeline.setNumber(0);
-    }
-    public void Forme(){
-      pipeline.setNumber(1);
-    }
-    public double Calcule(double x1, double x2, double y1, double y2, double angle)
-    {
-      if (x1 > 4)
-      {
-        return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle)/90;
-      }
-      else
-      {
-          return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1/90;
-      }
-    }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

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

@@ -1,68 +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 edu.wpi.first.net.PortForwarder;
-import edu.wpi.first.networktables.NetworkTable;
-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 Limelight3G extends SubsystemBase {
-NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
-  NetworkTableEntry pipeline = table.getEntry("pipeline");
-  /** Creates a new LimeLight3. */
-  public Limelight3G() {
-        for(int port = 5800; port <=5807; port++){
-      PortForwarder.add(port, "limelight.local", port);
-    }
-  }
-  public double[] getBotPoseBlue(){
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
-    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
-    return BotPose;
-    }
-    public double[] getBotPoseRed(){
-      NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
-    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
-    return BotPose;
-    }
-    public double getTx(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
-      NetworkTableEntry tx = table.getEntry("tx");
-      return tx.getDouble(0.0);
-    }
-    public double getTId(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
-      NetworkTableEntry tid = table.getEntry("tid");
-      return tid.getDouble(0.0);
-    }
-    public double getTA(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
-      NetworkTableEntry ta = table.getEntry("ta");
-      return ta.getDouble(0.0);
-    }
-    public boolean getV(){
-      return LimelightHelpers.getTV("limelight-tag");
-    }
-    public double Calcule(double x1, double x2, double y1, double y2, double angle)
-    {
-      if (x1 > 4)
-      {
-        return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle)/90;
-      }
-      else
-      {
-          return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1/90;
-      }
-    }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

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

@@ -0,0 +1,82 @@
+// 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.revrobotics.PersistMode;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SoftLimitConfig;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.DigitalInput;
+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;
+
+public class PivotBalayeuse extends SubsystemBase {
+
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+
+  SparkMax moteur = new SparkMax(8, MotorType.kBrushless);
+  RelativeEncoder encoder = moteur.getEncoder();
+  DigitalInput limit = new DigitalInput(9);
+
+  private GenericEntry ntEncodeurBalayeuse = teb.add("Position bas balayeuse", 1.8).getEntry();
+
+  private double maxEncodeur = ntEncodeurBalayeuse.getDouble(1.8);
+
+  private double vitesseMonter = 0.5;
+  private double vitesseDescendre = -0.5;
+
+  /** Creates a new PivotBalayeuse. */
+  public PivotBalayeuse() {
+    configMoteurs();
+  }
+
+  private void configMoteurs() {
+    SparkBaseConfig configMoteur = new SparkMaxConfig().apply(
+        new SoftLimitConfig().forwardSoftLimit(maxEncodeur).forwardSoftLimitEnabled(true)
+            .reverseSoftLimit(0.6).reverseSoftLimitEnabled(true))
+        .openLoopRampRate(0.1)
+        .idleMode(IdleMode.kBrake);
+    moteur.configure(configMoteur, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+  }
+
+  public Command monter() {
+    return startEnd(() -> moteur.set(vitesseMonter), () -> moteur.set(0))
+        .until(() -> moteur.getForwardSoftLimit().isReached());
+  }
+
+  public Command descendre() {
+    return startEnd(() -> moteur.set(vitesseDescendre), () -> moteur.set(0))
+        .until(() -> moteur.getReverseSoftLimit().isReached());
+  }
+
+  public double EncodeurBalayeuse() {
+    return ntEncodeurBalayeuse.getDouble(1.8);
+  }
+
+  @Override
+  public void periodic() {
+    teb.addBoolean("limit balayeuse", limit::get);
+    teb.addDouble("encodeur balayeuse", encoder::getPosition);
+
+    if (!limit.get()) {
+      encoder.setPosition(0.6);
+    }
+
+    double newEncoderMax = ntEncodeurBalayeuse.getDouble(maxEncodeur);
+    if (newEncoderMax != maxEncodeur) {
+      maxEncodeur = newEncoderMax;
+      configMoteurs();
+    }
+  }
+}

vendordeps/PathplannerLib-2026.1.2.json

@@ -1,9 +1,9 @@
 {
-    "fileName": "PathplannerLib-2025.2.7.json",
+    "fileName": "PathplannerLib-2026.1.2.json",
     "name": "PathplannerLib",
-    "version": "2025.2.7",
+    "version": "2026.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.7"
+            "version": "2026.1.2"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.7",
+            "version": "2026.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/Phoenix5-5.36.0.json

@@ -1,50 +1,50 @@
 {
-    "fileName": "Phoenix5-5.35.1.json",
+    "fileName": "Phoenix5-5.36.0.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.35.1",
+    "version": "5.36.0",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json",
     "requires": [
         {
             "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
             "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
-            "offlineFileName": "Phoenix6-frc2025-latest.json",
+            "offlineFileName": "Phoenix6-frc2026-latest.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json"
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json"
         }
     ],
     "conflictsWith": [
         {
             "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
             "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
-            "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
         },
         {
             "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
             "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix5-replay-frc2025-latest.json"
+            "offlineFileName": "Phoenix5-replay-frc2026-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.35.1"
+            "version": "5.36.0"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.35.1"
+            "version": "5.36.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +58,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -74,7 +74,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -90,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -106,7 +106,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -122,7 +122,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -154,7 +154,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,

vendordeps/Phoenix6-26.1.3.json

@@ -1,32 +1,32 @@
 {
-    "fileName": "Phoenix6-frc2025-latest.json",
+    "fileName": "Phoenix6-26.1.3.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.4.0",
+    "version": "26.1.3",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json",
     "conflictsWith": [
         {
             "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
             "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "25.4.0"
+            "version": "26.1.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,21 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.4.0",
+            "version": "26.1.3",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simCANCoder",
-            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -222,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -238,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -254,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -270,7 +256,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -302,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -318,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -334,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -347,26 +333,10 @@
             ],
             "simMode": "swsim"
         },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simCANCoder",
-            "version": "25.4.0",
-            "libName": "CTRE_SimCANCoder",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -382,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -398,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -414,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -430,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -446,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -462,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "25.4.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,

vendordeps/REVLib.json

@@ -1,25 +1,55 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2025.0.3",
+    "version": "2026.0.5",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2025.0.3"
+            "version": "2026.0.5"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2025.0.3",
+            "version": "2026.0.5",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.5",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.5",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -36,7 +66,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2025.0.3",
+            "version": "2026.0.5",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -53,7 +83,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2025.0.3",
+            "version": "2026.0.5",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -66,6 +96,38 @@
                 "linuxarm32",
                 "osxuniversal"
             ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.5",
+            "libName": "BackendDriver",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.5",
+            "libName": "REVLibWpi",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
         }
     ]
 }

vendordeps/WPILibNewCommands.json

@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2025",
+  "frcYear": "2026",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
@@ -25,6 +25,7 @@
       "sharedLibrary": true,
       "skipInvalidPlatforms": true,
       "binaryPlatforms": [
+        "linuxsystemcore",
         "linuxathena",
         "linuxarm32",
         "linuxarm64",