competiton

Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026
led
2026-04-11 08:16:06 -04:00 · 2026-04-07 19:53:33 -04:00 · 2026-04-07 19:53:00 -04:00 · 2026-04-07 19:51:41 -04:00 · 2026-04-07 18:06:45 -04:00 · 2026-04-07 18:06:11 -04:00
53 changed files with 1659 additions and 871 deletions
--- a/.vscode/settings.json
+++ b/.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
 }
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
    "enableCppIntellisense": false,
    "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026",
    "teamNumber": 5618
 }
--- a/WPILib-License.md
+++ b/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
--- a/build.gradle
+++ b/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 {
@@ -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
 }
--- a/settings.gradle
+++ b/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')
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
  "keyboardJoysticks": [
    {
      "axisConfig": [
--- a/src/main/deploy/pathplanner/autos/DepotTirerReservoir.auto
+++ b/src/main/deploy/pathplanner/autos/DepotTirerReservoir.auto
@@ -14,6 +14,12 @@
          "type": "deadline",
          "data": {
            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
              {
                "type": "path",
                "data": {
@@ -36,11 +42,9 @@
          }
        },
        {
-          "type": "named",
+          "type": "deadline",
          "data": {
-            "name": "Limelighter"
-          }
-        },
+            "commands": [
              {
                "type": "named",
                "data": {
@@ -50,7 +54,10 @@
              {
                "type": "named",
                "data": {
-            "name": "TournerAZero"
+                  "name": "Aspirer"
+                }
+              }
+            ]
          }
        },
        {
@@ -72,9 +79,9 @@
          }
        },
        {
-          "type": "path",
+          "type": "named",
          "data": {
-            "pathName": "MonterReservoir"
+            "name": "gauche"
          }
        },
        {
--- a/src/main/deploy/pathplanner/autos/DepotTirer.auto
+++ b/src/main/deploy/pathplanner/autos/DepotTirer.auto
@@ -35,12 +35,6 @@
            "pathName": "Tir"
          }
        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Limelighter"
-          }
-        },
        {
          "type": "named",
          "data": {
--- a/src/main/deploy/pathplanner/autos/DepotTirerMur.auto
+++ b/src/main/deploy/pathplanner/autos/DepotTirerMur.auto
@@ -14,6 +14,12 @@
          "type": "deadline",
          "data": {
            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
              {
                "type": "path",
                "data": {
@@ -36,11 +42,9 @@
          }
        },
        {
-          "type": "named",
+          "type": "deadline",
          "data": {
-            "name": "Limelighter"
-          }
-        },
+            "commands": [
              {
                "type": "named",
                "data": {
@@ -50,7 +54,10 @@
              {
                "type": "named",
                "data": {
-            "name": "TournerA180"
+                  "name": "Aspirer"
+                }
+              }
+            ]
          }
        },
        {
@@ -72,9 +79,9 @@
          }
        },
        {
-          "type": "path",
+          "type": "named",
          "data": {
-            "pathName": "MonterMur"
+            "name": "droite"
          }
        },
        {
--- a/src/main/deploy/pathplanner/autos/TirSimple.auto
+++ b/src/main/deploy/pathplanner/autos/TirSimple.auto
@@ -1,37 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TirerSimple"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "DescendreBalayeuse"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Limelighter"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Lancer"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
--- a/src/main/deploy/pathplanner/autos/Tirgrimpe.auto
+++ b/src/main/deploy/pathplanner/autos/Tirgrimpe.auto
@@ -0,0 +1,68 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "tirgrimpe1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Lancer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "GrimperReservoir"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "MonterGrimpeur"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "gauche"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreGrimpeur"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
--- a/src/main/deploy/pathplanner/paths/Depot.path
+++ b/src/main/deploy/pathplanner/paths/Depot.path
@@ -3,12 +3,12 @@
  "waypoints": [
    {
      "anchor": {
-        "x": 3.5732667617689007,
+        "x": 3.6120827389443653,
        "y": 5.917574893009986
      },
      "prevControl": null,
      "nextControl": {
-        "x": 2.266462196861626,
+        "x": 2.3052781740370905,
        "y": 5.904636233951498
      },
      "isLocked": false,
@@ -16,11 +16,11 @@
    },
    {
      "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.23509272467902986,
        "y": 5.917574893009986
      },
      "prevControl": {
-        "x": 1.7230385164051354,
+        "x": 0.778516405135521,
        "y": 5.930513552068473
      },
      "nextControl": null,
--- a/src/main/deploy/pathplanner/paths/GrimperMur.path
+++ b/src/main/deploy/pathplanner/paths/GrimperMur.path
@@ -3,25 +3,25 @@
  "waypoints": [
    {
      "anchor": {
-        "x": 2.4476034236804565,
-        "y": 4.85660485021398
+        "x": 1.878,
+        "y": 5.154
      },
      "prevControl": null,
      "nextControl": {
-        "x": 1.6971611982881591,
-        "y": 4.85660485021398
+        "x": 1.1275577746077026,
+        "y": 5.154
      },
      "isLocked": false,
      "linkedName": null
    },
    {
      "anchor": {
-        "x": 1.0761055634807417,
-        "y": 4.85660485021398
+        "x": 1.0372895863052778,
+        "y": 5.011868758915835
      },
      "prevControl": {
-        "x": 1.503081312410841,
-        "y": 4.869543509272469
+        "x": 1.4642653352353772,
+        "y": 5.024807417974324
      },
      "nextControl": null,
      "isLocked": false,
--- a/src/main/deploy/pathplanner/paths/GrimperReservoir.path
+++ b/src/main/deploy/pathplanner/paths/GrimperReservoir.path
@@ -3,25 +3,25 @@
  "waypoints": [
    {
      "anchor": {
-        "x": 2.4476034236804565,
-        "y": 4.85660485021398
+        "x": 1.878,
+        "y": 5.154
      },
      "prevControl": null,
      "nextControl": {
-        "x": 2.3958487874465044,
-        "y": 2.695848787446506
+        "x": 1.8262453637660478,
+        "y": 2.993243937232526
      },
      "isLocked": false,
      "linkedName": null
    },
    {
      "anchor": {
-        "x": 1.0502282453637657,
-        "y": 2.4758915834522113
+        "x": 2.0076890156918683,
+        "y": 2.2041797432239663
      },
      "prevControl": {
-        "x": 2.292339514978602,
-        "y": 2.3982596291012843
+        "x": 3.2498002853067054,
+        "y": 2.1265477888730393
      },
      "nextControl": null,
      "isLocked": false,
@@ -42,7 +42,7 @@
  },
  "goalEndState": {
    "velocity": 0,
-    "rotation": 0.0
+    "rotation": 32.10625595511781
  },
  "reversed": false,
  "folder": null,
--- a/src/main/deploy/pathplanner/paths/MonterReservoir.path
+++ b/src/main/deploy/pathplanner/paths/MonterReservoir.path
@@ -3,25 +3,25 @@
  "waypoints": [
    {
      "anchor": {
-        "x": 1.0502282453637657,
-        "y": 2.4758915834522113
+        "x": 1.0,
+        "y": 2.6
      },
      "prevControl": null,
      "nextControl": {
-        "x": 1.0408884389937225,
-        "y": 2.742159765250622
+        "x": 0.9906601936299568,
+        "y": 2.866268181798411
      },
      "isLocked": false,
      "linkedName": null
    },
    {
      "anchor": {
-        "x": 1.0502282453637657,
-        "y": 2.7734807417974334
+        "x": 1.0,
+        "y": 2.9
      },
      "prevControl": {
-        "x": 1.0547546338516156,
-        "y": 2.523521721541598
+        "x": 1.00452638848785,
+        "y": 2.6500409797441646
      },
      "nextControl": null,
      "isLocked": false,
--- a/src/main/deploy/pathplanner/paths/Tir.path
+++ b/src/main/deploy/pathplanner/paths/Tir.path
@@ -3,12 +3,12 @@
  "waypoints": [
    {
      "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.29978601997146925,
        "y": 5.917574893009986
      },
      "prevControl": null,
      "nextControl": {
-        "x": 2.3570328102710407,
+        "x": 1.4772039942938657,
        "y": 5.982268188302426
      },
      "isLocked": false,
@@ -16,12 +16,12 @@
    },
    {
      "anchor": {
-        "x": 2.4476034236804565,
-        "y": 4.85660485021398
+        "x": 1.8783024251069897,
+        "y": 5.154194008559203
      },
      "prevControl": {
-        "x": 2.382910128388017,
-        "y": 5.400028530670471
+        "x": 1.8136091298145502,
+        "y": 5.6976176890156935
      },
      "nextControl": null,
      "isLocked": false,
@@ -30,7 +30,7 @@
  ],
  "rotationTargets": [
    {
-      "waypointRelativePos": 0.2179128348660559,
+      "waypointRelativePos": 0.3240938166311289,
      "rotationDegrees": 180.0
    }
  ],
--- a/src/main/deploy/pathplanner/paths/TirerSimple.path
+++ b/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,
-        "y": 4.02839075681212
+        "x": 2.5679620034542325,
+        "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
 }
--- a/src/main/deploy/pathplanner/paths/tirgrimpe1.path
+++ b/src/main/deploy/pathplanner/paths/tirgrimpe1.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5991440798858774,
+        "y": 2.3465049928673327
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.589928673323822,
+        "y": 1.7513266761768898
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8783024251069897,
+        "y": 2.3465049928673327
+      },
+      "prevControl": {
+        "x": 2.706376604850214,
+        "y": 1.7125106990014274
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 33.11134196037204
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -16,11 +16,11 @@
  "robotMass": 51.673,
  "robotMOI": 6.883,
  "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.048,
-  "driveGearing": 5.143,
-  "maxDriveSpeed": 5.374,
+  "driveWheelRadius": 0.051,
+  "driveGearing": 6.2,
+  "maxDriveSpeed": 9.82,
  "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 60.0,
+  "driveCurrentLimit": 120.0,
  "wheelCOF": 1.2,
  "flModuleX": 0.288925,
  "flModuleY": 0.269875,
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -8,7 +8,6 @@ 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;
-import frc.robot.subsystems.Limelight3G;

 public class Robot extends TimedRobot {
  private Command m_autonomousCommand;
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -17,11 +17,11 @@ 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.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
-import frc.robot.commands.DistanceLancer;
+import frc.robot.commands.DescendreGrimpeurPlus;
+import frc.robot.commands.Inverser;
 import frc.robot.commands.Lancer;
 import frc.robot.commands.LancerAspirer;
 import frc.robot.commands.LancerBaseVitesse;
@@ -32,18 +32,22 @@ import frc.robot.commands.ModeOposerDemeleur;
 import frc.robot.commands.MonterBalyeuse;
 import frc.robot.commands.MonterGrimpeur;
 import frc.robot.commands.ModeAuto.AspirerAuto;
+import frc.robot.commands.ModeAuto.BougerDroiteAuto;
+import frc.robot.commands.ModeAuto.BougerGaucheAuto;
 import frc.robot.commands.ModeAuto.GrimperMur;
 import frc.robot.commands.ModeAuto.GrimperReservoir;
 import frc.robot.commands.ModeAuto.LancerAuto;
+import frc.robot.commands.ModeAuto.LimelighterAuto;
 import frc.robot.commands.ModeAuto.RetourMilieuDroite;
 import frc.robot.commands.ModeAuto.RetourMilieuGauche;
 import frc.robot.commands.ModeAuto.TournerVersMur;
+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.Grimpeur;
+//import frc.robot.subsystems.LEDSubsystem;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
 import frc.robot.subsystems.LimeLight3;
 import frc.robot.subsystems.Limelight3G;

@@ -54,7 +58,7 @@ public class RobotContainer {
  Lanceur lanceur = new Lanceur();
  LimeLight3 limeLight3 = new LimeLight3();
  Limelight3G limeLight3G = new Limelight3G();
-  Led led = new Led();
+  //LEDSubsystem ledSubsystem = new LEDSubsystem();
  CommandXboxController manette = new CommandXboxController(0);
  CommandXboxController manette1 = new CommandXboxController(1);
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@@ -64,24 +68,23 @@ public class RobotContainer {
    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
-    private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
-    private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
-
-    private final Telemetry logger = new Telemetry(MaxSpeed);

    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();


  public RobotContainer() {
+    NamedCommands.registerCommand("droite", new BougerDroiteAuto(drivetrain));
+    NamedCommands.registerCommand("gauche", new BougerGaucheAuto(drivetrain));
    NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
    NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
    NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
-    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite());
-    NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche());
-    NamedCommands.registerCommand("Limelighter", new Limelighter(limeLight3G,drivetrain));
+    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain,limeLight3G));
+    NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche(drivetrain, limeLight3G));
+    NamedCommands.registerCommand("Limelighter", new LimelighterAuto(limeLight3G,drivetrain));
    NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
    NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
-    NamedCommands.registerCommand("TournerA180", new TournerVersMur(drivetrain));
+    NamedCommands.registerCommand("TournerA180", new TournerVersReservoir(drivetrain));
+    NamedCommands.registerCommand("TournerAZero", new TournerVersMur(drivetrain));
    NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
    NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
    autoChooser = AutoBuilder.buildAutoChooser();
@@ -93,12 +96,12 @@ public class RobotContainer {
  }

  private void configureBindings() {
-    led.setDefaultCommand(new DistanceLancer(limeLight3G, led));
+    //ledSubsystem.setDefaultCommand(ledSubsystem.updateLEDs());
    drivetrain.setDefaultCommand(
          drivetrain.applyRequest(() ->
-            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05)) 
-              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed, 0.05)) 
-             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
+            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) 
+              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed*0.7, 0.05)) 
+             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate*1.5, 0.05))
        )
      );
    //manette 1
@@ -108,7 +111,7 @@ public class RobotContainer {
    // manette1.povLeft().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
    
    manette.povUp().whileTrue(new MonterGrimpeur(grimpeur));
-    manette.povDown().whileTrue(new DescendreGrimpeur(grimpeur));
+    manette.povDown().whileTrue(new DescendreGrimpeurPlus(grimpeur));
    manette.rightTrigger().whileTrue(new Lancer(lanceur, limeLight3G));
    manette.leftTrigger().whileTrue(new Limelighter(limeLight3G, drivetrain));
    manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
@@ -120,12 +123,16 @@ public class RobotContainer {
    //manette 2
    manette1.rightTrigger().whileTrue(new Aspirer(balayeuse));
    manette1.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
-    manette1.leftTrigger().whileTrue(new LancerBaseVitesse(lanceur, limeLight3G));
+    manette1.leftTrigger().whileTrue(new LancerBaseVitesse(lanceur));
    manette1.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
    manette1.x().whileTrue(new LancerAspirer(lanceur, balayeuse, limeLight3G));
    manette1.b().whileTrue(new ModeOposer(lanceur));
    manette1.a().whileTrue(new ModeOposerDemeleur(lanceur));
    manette1.y().whileTrue(new ModeOposerBalayeuse(balayeuse));
+    manette1.povRight().whileTrue(new BougerDroiteAuto(drivetrain));
+    manette1.povLeft().whileTrue(new BougerGaucheAuto(drivetrain));
+    manette1.povDown().whileTrue(new DescendreGrimpeur(grimpeur));
+    manette1.start().whileTrue(new Inverser(drivetrain));
  }

  public Command getAutonomousCommand() {
--- a/src/main/java/frc/robot/commands/Aspirer.java
+++ b/src/main/java/frc/robot/commands/Aspirer.java
@@ -4,10 +4,8 @@

 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 {
--- a/src/main/java/frc/robot/commands/DescendreGrimpeur.java
+++ b/src/main/java/frc/robot/commands/DescendreGrimpeur.java
@@ -13,6 +13,7 @@ public class DescendreGrimpeur extends Command {
  /** Creates a new DescendreGrimpeur. */
  public DescendreGrimpeur(Grimpeur grimpeur) {
    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
    // Use addRequirements() here to declare subsystem dependencies.
  }

@@ -24,18 +25,21 @@ public class DescendreGrimpeur extends Command {
  @Override
  public void execute() {
    if(!grimpeur.Limit()){
-      grimpeur.Grimper(-0.4);
+      grimpeur.GrimperGauche(-0.4);
+      grimpeur.GrimperDroit(-0.4);
    }
    else{
      grimpeur.Reset();
-      grimpeur.Grimper(0);
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
    }
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
  }

  // Returns true when the command should end.
--- a/src/main/java/frc/robot/commands/DescendreGrimpeurPlus.java
+++ b/src/main/java/frc/robot/commands/DescendreGrimpeurPlus.java
@@ -5,18 +5,15 @@
 package frc.robot.commands;

 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Led;
-import frc.robot.subsystems.Limelight3G;
+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 DistanceLancer extends Command {
-  private Led led;
-  private Limelight3G limelight3g;
-  /** Creates a new DitanceLancer. */
-  public DistanceLancer(Limelight3G limelight3g, Led led) {
-    this.led = led;
-    this.limelight3g = limelight3g;
-    addRequirements(led,limelight3g);
+public class DescendreGrimpeurPlus extends Command {
+  private Grimpeur grimpeur;  
+  /** Creates a new DescendreGrimpeur. */
+  public DescendreGrimpeurPlus(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
    // Use addRequirements() here to declare subsystem dependencies.
  }

@@ -27,30 +24,22 @@ public class DistanceLancer extends Command {
  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
-    double botx = 0;
-    double boty = 0;
-    double[] BotPose = new double[6];
-    double distance = 0;
-    if(limelight3g.getV()){
-      BotPose = limelight3g.getBotPoseBlue();
-      botx = BotPose[0];
-      boty = BotPose[1];
-    }                                        
-    if(limelight3g.getV()){
-      distance = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
-    }
-    if(distance > 1.7){
-      led.Jaune2();
+    if(!grimpeur.Limit()){
+      grimpeur.GrimperGauche(-0.4);
+      grimpeur.GrimperDroit(-0.4);
    }
    else{
-      
+      grimpeur.Reset();
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
    }
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
-
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
  }

  // Returns true when the command should end.
--- a/src/main/java/frc/robot/commands/RainBowAnim.java
+++ b/src/main/java/frc/robot/commands/RainBowAnim.java
@@ -5,33 +5,33 @@
 package frc.robot.commands;

 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Led;
+import frc.robot.subsystems.CommandSwerveDrivetrain;

 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class RainBowAnim extends Command {
-  private Led led;
-  /** Creates a new RainBowAnim. */
-  public RainBowAnim(Led led) {
-    this.led = led;
-    addRequirements(led);
+public class Inverser extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  boolean inverse = false;
+  /** Creates a new Inverser. */
+  public Inverser(CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
-    led.RainBow();
+    drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
-  public void execute() {}
+  public void execute() {
+  }

  // Called once the command ends or is interrupted.
  @Override
-  public void end(boolean interrupted) {
-    led.RainBowStop();
-  }
+  public void end(boolean interrupted) {}

  // Returns true when the command should end.
  @Override
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -4,12 +4,14 @@

 package frc.robot.commands;

+import java.util.Optional;
+
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
 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 */
@@ -18,52 +20,64 @@ public class Lancer extends Command {
  private PIDController pidController;
  private Limelight3G limeLight3G;
  private Timer timer;
-  private double temp;
+      double vitesse = 0;
+          double botx = 0;
+    double boty = 0;
+      Optional<Alliance> alliance = DriverStation.getAlliance(); 
+
  /** Creates a new Lancer. */
  public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
    this.lanceur = lanceur;
    this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
+    this.limeLight3G = limeLight3G;
    addRequirements(lanceur, limeLight3G);
-
-    this.temp = 0;
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
+    if(limeLight3G.getV()){}
    pidController = new PIDController(0.0007, 0,0, 0.001);
    timer.reset();
-    temp = lanceur.Amp();    
+    alliance = DriverStation.getAlliance();  
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
-    double botx = 0;
-    double boty = 0;
    double[] BotPose = new double[6];
    if(limeLight3G.getV()){
+    if(!alliance.isPresent()){
+      return;
+    }
+      if(alliance.get() == Alliance.Blue){
        BotPose = limeLight3G.getBotPoseBlue();
+      }
+      else{
+        BotPose = limeLight3G.getBotPoseRed();
+      } 
      botx = BotPose[0];
      boty = BotPose[1];
-    }                                        
-    double vitesse = 0.5;
-    if(limeLight3G.getV()){
    vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
-      System.out.println(vitesse);
+  }                                            
+    // if(limeLight3G.getV()){
      
+      if(vitesse > 2000){
      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
      lanceur.Lancer(output);
+      System.out.println(output);
      if(lanceur.Vitesse() >= vitesse-800){
        timer.start();
-        if(timer.get() >0.5){
+        if(timer.get() >1){
          lanceur.Demeler(1);
        }
-
+      }
+      else{
+        lanceur.Lancer(3500);
      }
    }
+  // }
  }

  // Called once the command ends or is interrupted.
--- a/src/main/java/frc/robot/commands/LancerAspirer.java
+++ b/src/main/java/frc/robot/commands/LancerAspirer.java
@@ -7,8 +7,6 @@ package frc.robot.commands;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 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;


--- a/src/main/java/frc/robot/commands/LancerBaseVitesse.java
+++ b/src/main/java/frc/robot/commands/LancerBaseVitesse.java
@@ -5,25 +5,22 @@
 package frc.robot.commands;

 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
-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 double temp;
+  double tempsDebut = 0;
  /** Creates a new Lancer. */
-  public LancerBaseVitesse(Lanceur lanceur, Limelight3G limeLight3G) {
+  public LancerBaseVitesse(Lanceur lanceur) {
    this.lanceur = lanceur;
   this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur, limeLight3G);
+    addRequirements(lanceur);
    //this.temp = 0;
    // Use addRequirements() here to declare subsystem dependencies.
  }
@@ -34,38 +31,18 @@ public class LancerBaseVitesse extends Command {
    pidController = new PIDController(0.0007, 0,0, 0.001);
    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{
+    System.out.println(DriverStation.getMatchTime());
      double vitesse = lanceur.vitesseDemander();
      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
      lanceur.Lancer(output);
-      if(timer.get() >1){
+      if(timer.get() > 1){
        lanceur.Demeler(1);
       }
-    // }

  }

--- a/src/main/java/frc/robot/commands/Limelighter.java
+++ b/src/main/java/frc/robot/commands/Limelighter.java
@@ -7,16 +7,19 @@ package frc.robot.commands;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;

-import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Limelight3G;
 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 Limelighter extends Command {
-  Timer timer;
  Limelight3G limelight3g;
  CommandSwerveDrivetrain drivetrain;
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
@@ -25,6 +28,8 @@ public class Limelighter extends Command {
  double boty;
  double angle;
  double calcul;
+  double x;
+   Optional<Alliance> alliance = DriverStation.getAlliance(); 
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
      .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
      .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -34,14 +39,13 @@ public class Limelighter extends Command {
    this.limelight3g = limelight3g;
    this.drivetrain = drivetrain;
    addRequirements(drivetrain, limelight3g);
-    timer = new Timer();
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
-    timer.reset();
+    alliance = DriverStation.getAlliance();
  }

  // Called every time the scheduler runs while the command is scheduled.
@@ -50,23 +54,63 @@ public class Limelighter extends Command {
    double[] BotPose = new double[6];
    if (limelight3g.getV()) {
         BotPose = limelight3g.getBotPoseBlue();
+       if (!alliance.isPresent()) {
+        return;
+      }
+      if (alliance.get() == Alliance.Blue) {
+        x = 4.6;
+        BotPose = limelight3g.getBotPoseBlue();
+      }
+       else {
+        //x = 11.915394;
+        x = 4.6;
+       BotPose = limelight3g.getBotPoseRed();
+      }
+      botx = BotPose[0];
+      boty = BotPose[1];
+      angle = BotPose[5];
+      calcul = Math.toRadians(limelight3g.Calcule(boty, 4,botx, x, angle));
+      System.out.println(calcul);
+      //drivetrain.setControl(drive.withRotationalRate(MathUtil.clamp(calcul, -3, 3)));
+      if(calcul > -5 && calcul < 5){
+         drivetrain.setControl(
+           drive.withRotationalRate(0));
+      }
+      else if(calcul > 5){
+        drivetrain.setControl(
+          drive.withRotationalRate(2));
+      }
+      else if(calcul < -5){
+        drivetrain.setControl(drive.withRotationalRate(-2));
+      }
       botx = BotPose[1];
      boty = BotPose[0];
      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      if(angle >180){
-        angle =- 360;
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
+      if(calcul < -5 && calcul > -180){
+        drivetrain.setControl(
+          drive.withRotationalRate(0.5*(2*Math.PI)));
+      }
+      else if(calcul > 5 && calcul < 180){
+        drivetrain.setControl(
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
+      }
+      else if(calcul < -5){
+        drivetrain.setControl(
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
+      }
+      else if(calcul <= -180){
+        drivetrain.setControl(
+          drive.withRotationalRate(0.5*(2*Math.PI)));
+      }
+      else{
+        drivetrain.setControl(
+          drive.withRotationalRate(0));
      }  
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
      drivetrain.setControl(
          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
-      System.out.println(calcul);
+      System.out.println(angle);
      if (calcul < 0.2 && calcul > -0.2) {
-    //     timer.start();
-    //   } else {
-    //     timer.reset();
-    //   }
-    // } else {
-    //   timer.stop();
      drivetrain.setControl(drive.withRotationalRate(0));
      }
    }
@@ -80,7 +124,6 @@ public class Limelighter extends Command {
  @Override
  public void end(boolean interrupted) {
    drivetrain.setControl(drive.withRotationalRate(0));
-    timer.stop();
  }

  // Returns true when the command should end.
--- a/src/main/java/frc/robot/commands/ModeAuto/BougerDroiteAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/BougerDroiteAuto.java
@@ -0,0 +1,69 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.ModeAuto;
+
+import static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BougerDroiteAuto extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Timer timer = new Timer();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvanceAuto. */
+  public BougerDroiteAuto(CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+      if(timer.get() < 1.25){
+        drivetrain.setControl(drive.withVelocityY(-1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 1;
+  }
+}
--- a/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
@@ -0,0 +1,69 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.ModeAuto;
+
+import static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BougerGaucheAuto extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Timer timer = new Timer();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvanceAuto. */
+  public BougerGaucheAuto(CommandSwerveDrivetrain drivetrain) {
+        this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+      if(timer.get() < 1.25){
+        drivetrain.setControl(drive.withVelocityY(1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 1;
+  }
+}
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
@@ -8,14 +8,20 @@ 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 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.math.MathUtil;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.LimeLight3;
+import frc.robot.subsystems.Limelight3G;

 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class GrimperMur extends Command {
@@ -24,9 +30,13 @@ public class GrimperMur extends Command {
  double[] BotPose = new double[6];
  double botx;
  double boty;
+  double x;
+  double y;
+  double angle;
+  double pigeonAngle;
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
+  Optional<Alliance> alliance = DriverStation.getAlliance();
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -40,19 +50,64 @@ public class GrimperMur extends Command {

  // Called when the command is initially scheduled.
  @Override
-  public void initialize() {}
+  public void initialize() {
+     alliance = DriverStation.getAlliance();
+    //   if(drivetrain.Equipe()){
+    //         angle+=180;
+    //   }
+  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
+    if(limeLight3.getV()){
      BotPose = limeLight3.getBotPoseBlue();
      botx = BotPose[0];
      boty = BotPose[1];
-    if(180-pigeon2.getYaw().getValueAsDouble() < 10 && 180- pigeon2.getYaw().getValueAsDouble() > -10){
-      drivetrain.setControl(drive.withVelocityX(2.961328-boty).withVelocityY(1.11-botx));
+      if(angle < 0){
+        angle = angle + 360;
+      }
+      if(alliance.get() == Alliance.Red){
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+        System.out.println(pigeonAngle);
+      y = 3.6;
+      x = 15;
+      angle = 180;
+      if(pigeonAngle> 358 || pigeonAngle< 2){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*10),-2,2)).withRotationalRate(0));
      }
      else{
-       drivetrain.setControl(drive.withRotationalRate(180-pigeon2.getYaw().getValueAsDouble()/45));
+        if(pigeonAngle>180){
+          drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(1));
+        }
+        else{
+          drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(-1));
+        }
+      }
+      }
+      else{
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+        System.out.println(pigeonAngle);
+        y = 4.4;
+        x = 1.6;
+        angle = 0;
+        if(pigeonAngle> 182 || pigeonAngle< 178){
+          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*10),-2,2)).withRotationalRate(0));
+        }
+        else{
+          if(pigeonAngle>0 && pigeonAngle<180){
+            drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(-1));
+            System.out.println("x");
+          }
+          else if(pigeonAngle>180){
+            System.out.println("e");
+            drivetrain.setControl(drive.withVelocityY(0).withVelocityX(0).withRotationalRate(1));
+          }
+        }
+      }
+    }
+    else{
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
    }
  }

@@ -65,6 +120,6 @@ public class GrimperMur extends Command {
  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
-    return (2.961328-boty < 0.05 || 2.961328-boty >-0.05) && (1.11-botx < 0.05 || 1.11-botx > -0.05);
+    return (y-boty < 0.2 && y-boty >-0.2) && (x-botx < 0.06 && x-botx > -0.06);
  }
 }
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
@@ -8,10 +8,15 @@ 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 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.math.MathUtil;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -24,9 +29,13 @@ public class GrimperReservoir extends Command {
  double[] BotPose = new double[6];
  double botx;
  double boty;
+  double x;
+  double y;
+  double angle;
+  double pigeonAngle;
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
+    Optional<Alliance> alliance; 
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -40,19 +49,64 @@ public class GrimperReservoir extends Command {

  // Called when the command is initially scheduled.
  @Override
-  public void initialize() {}
+  public void initialize() {
+     alliance = DriverStation.getAlliance();
+    // if(drivetrain.Equipe()){
+    //   drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+    // }
+  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
+    if(limeLight3G.getV()){
      BotPose = limeLight3G.getBotPoseBlue();
      botx = BotPose[0];
      boty = BotPose[1];
-    if(0-pigeon2.getYaw().getValueAsDouble() < 10 && 0- pigeon2.getYaw().getValueAsDouble() > -10){
-      drivetrain.setControl(drive.withVelocityX(5.081328-boty).withVelocityY(1.11-botx));
+      if(angle < 0){
+        angle = angle + 360;
+      }
+      if(alliance.get() == Alliance.Red){
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+        System.out.println(pigeonAngle);
+      y = 5.2;
+      x = 15.6;
+      angle = 180;
+      if(pigeonAngle< 190 && pigeonAngle> 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*10),-2,2)));
      }
      else{
-       drivetrain.setControl(drive.withRotationalRate(0-pigeon2.getYaw().getValueAsDouble()/45));
+        if(pigeonAngle>180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
+        }
+        else{
+          drivetrain.setControl(drive.withRotationalRate(1));
+        }
+      }
+      }
+      else{
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble()+180;
+        System.out.println(pigeonAngle);
+        y = 2.6;
+        x = 1.11;
+        angle = 0;
+        if(pigeonAngle> 358 || pigeonAngle< 2){
+          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*10), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*10),-2,2)).withRotationalRate(0));
+        }
+        else{
+          if(pigeonAngle>0 && pigeonAngle<180){
+            drivetrain.setControl(drive.withRotationalRate(-1));
+            System.out.println("x");
+          }
+          else if(pigeonAngle>180){
+            System.out.println("e");
+            drivetrain.setControl(drive.withRotationalRate(1));
+          }
+        }
+      }
+    }
+    else{
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
    }
  }

@@ -65,6 +119,6 @@ public class GrimperReservoir extends Command {
  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
-    return 5.081328-boty < 0.05 || 5.081328-boty >-0.05 && 1.11-botx < 0.05 || 1.11-botx > -0.05;
+    return (y-boty < 0.2 && y-boty >-0.2) && (x-botx < 0.06 && x-botx > -0.06);
  }
 }
--- a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
@@ -4,7 +4,11 @@

 package frc.robot.commands.ModeAuto;

+import java.util.Optional;
+
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
@@ -18,6 +22,8 @@ public class LancerAuto extends Command {
  Limelight3G limelight3g;
  double botx = 0;
  double boty = 0;
+  Optional<Alliance> alliance = DriverStation.getAlliance();
+
  /** Creates a new LancerAuto. */
  public LancerAuto(Lanceur lanceur, Limelight3G limelight3g) {
    this.lanceur = lanceur;
@@ -30,31 +36,41 @@ public class LancerAuto extends Command {
  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
-    pidController = new PIDController(0.0007, 0,0, 0.001);
+    pidController = new PIDController(0.0007, 0, 0, 0.001);
+    timer.reset();
+    alliance = DriverStation.getAlliance();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double[] BotPose = new double[6];
-    if(limelight3g.getV()){
+    if (limelight3g.getV()) {
+      if (!alliance.isPresent()) {
+        return;
+      }
+      if (alliance.get() == Alliance.Blue) {
        BotPose = limelight3g.getBotPoseBlue();
+      } else {
+        BotPose = limelight3g.getBotPoseRed();
+      }
+
      botx = BotPose[0];
      boty = BotPose[1];
    }
    double vitesse = 0.5;
-    if(limelight3g.getV()){
-      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
-      System.out.println(vitesse);
+    if (limelight3g.getV()) {
+      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594 - botx), 2) + Math.pow(Math.abs(4.034536 - boty), 2))))
+          + 2250;
+      System.out.println("lancer");

-      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
+      double output = pidController.calculate(lanceur.Vitesse(), vitesse);
      lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse-800){
+      if (lanceur.Vitesse() >= vitesse - 800) {
        timer.start();
-        if(timer.get() >0.5){
+        if (timer.get() > 1) {
          lanceur.Demeler(1);
        }
-
      }
    }
  }
@@ -72,6 +88,6 @@ public class LancerAuto extends Command {
  @Override
  public boolean isFinished() {
    return timer.get() > 4;
-    //return false;
+    // return false;
  }
 }
--- a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
@@ -7,16 +7,18 @@ package frc.robot.commands.ModeAuto;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;

-import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Limelight3G;
 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 LimelighterAuto extends Command {
-  Timer timer;
  Limelight3G limelight3g;
  CommandSwerveDrivetrain drivetrain;
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
@@ -25,6 +27,8 @@ public class LimelighterAuto extends Command {
  double boty;
  double angle;
  double calcul;
+  double x;
+   Optional<Alliance> alliance = DriverStation.getAlliance(); 
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
      .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
      .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -34,41 +38,79 @@ public class LimelighterAuto extends Command {
    this.limelight3g = limelight3g;
    this.drivetrain = drivetrain;
    addRequirements(drivetrain, limelight3g);
-    timer = new Timer();
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
-    timer.reset();
+    alliance = DriverStation.getAlliance();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double[] BotPose = new double[6];
+    System.out.println("e");
    if (limelight3g.getV()) {
         BotPose = limelight3g.getBotPoseBlue();
-      botx = BotPose[1];
-      boty = BotPose[0];
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      if(angle >180){
-        angle =- 360;
+       if (!alliance.isPresent()) {
+        return;
      }
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
+      if (alliance.get() == Alliance.Blue) {
+        x = 4.6;
+        BotPose = limelight3g.getBotPoseBlue();
+      }
+       else {
+        // x = 11.915394;
+        x = 4.6;
+       BotPose = limelight3g.getBotPoseRed();
+      }
+      botx = BotPose[0];
+      boty = BotPose[1];
+      angle = BotPose[5];
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
+      if(calcul > -5 && calcul < 5){
         drivetrain.setControl(
-          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
-      System.out.println(calcul);
-      if (calcul < 0.2 && calcul > -0.2) {
-    //     timer.start();
-    //   } else {
-    //     timer.reset();
-    //   }
-    // } else {
-    //   timer.stop();
-      drivetrain.setControl(drive.withRotationalRate(0));
+           drive.withRotationalRate(0));
      }
+      else if(calcul > 5){
+        drivetrain.setControl(
+          drive.withRotationalRate(2));
+      }
+      else if(calcul < -5){
+        drivetrain.setControl(drive.withRotationalRate(-2));
+      }
+      // botx = BotPose[1];
+      // boty = BotPose[0];
+      // angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+      // calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
+      // if(calcul < -5 && calcul > -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else if(calcul > 5 && calcul < 180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul < -5){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul <= -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else{
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0));
+      // }  
+      // drivetrain.setControl(
+      //     drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+      // System.out.println(angle);
+      // if (calcul < 0.2 && calcul > -0.2) {
+      // drivetrain.setControl(drive.withRotationalRate(0));
+      // }
    }
    else{
      drivetrain.setControl(drive.withRotationalRate(0));
@@ -80,12 +122,12 @@ public class LimelighterAuto extends Command {
  @Override
  public void end(boolean interrupted) {
    drivetrain.setControl(drive.withRotationalRate(0));
-    timer.stop();
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
-    return calcul < 0.1 && calcul > -0.1;
+   return calcul > -5 && calcul < 5;
  }
 }
+
--- a/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java
+++ b/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.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+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 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, limelight3g);
    // 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);
  }
 }
--- a/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuGauche.java
+++ b/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.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+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 RetourMilieuGauche extends Command {
-  /** Creates a new RetourMilieuGauche. */
-  public RetourMilieuGauche() {
+  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 RetourMilieuGauche(CommandSwerveDrivetrain drivetrain, Limelight3G limelight3g) {
+    this.drivetrain = drivetrain;
+    this.limelight3g = limelight3g;
+    addRequirements(drivetrain, limelight3g);
    // 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);
  }
 }
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
@@ -23,8 +23,8 @@ public class TournerVersMur extends Command {
  Optional<Alliance> alliance = DriverStation.getAlliance();
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
  double force;
+  double angle;
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -37,22 +37,26 @@ public class TournerVersMur extends Command {

  // Called when the command is initially scheduled.
  @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    if(alliance.get() == Alliance.Blue){
      force = 0.5;
+      angle = 0;
    }
    else{
      force = -0.5;
+      angle = 180;
    }
-    if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
-      drivetrain.setControl(drive.withRotationalRate(force));
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
    }
-    else if(pigeon2.getYaw().getValueAsDouble() >180){
-      drivetrain.setControl(drive.withRotationalRate(-force));
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
    }
  }

@@ -63,6 +67,6 @@ public class TournerVersMur extends Command {
  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
-    return pigeon2.getYaw().getValueAsDouble() > 165  && pigeon2.getYaw().getValueAsDouble() < 195;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 10;
  }
 }
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
@@ -0,0 +1,79 @@
+// 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() {
+    alliance = DriverStation.getAlliance();
+  }
+
+  // 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() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10){
+      drivetrain.setControl(drive.withRotationalRate(0));
+    }
+    else{
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+      drivetrain.setControl(drive.withRotationalRate(-force*2));
+    }
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+      drivetrain.setControl(drive.withRotationalRate(force*2));
+    }
+  }
+  }
+
+  // Called once the command ends or is interrupted.
+  @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;
+  }
+}
--- a/src/main/java/frc/robot/commands/ModeOposerBalayeuse.java
+++ b/src/main/java/frc/robot/commands/ModeOposerBalayeuse.java
@@ -6,7 +6,6 @@ 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 ModeOposerBalayeuse extends Command {
  private Balayeuse balayeuse;
--- a/src/main/java/frc/robot/commands/MonterGrimpeur.java
+++ b/src/main/java/frc/robot/commands/MonterGrimpeur.java
@@ -13,6 +13,7 @@ public class MonterGrimpeur extends Command {
  /** Creates a new MonterGrimpeur. */
  public MonterGrimpeur(Grimpeur grimpeur) {
    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
    // Use addRequirements() here to declare subsystem dependencies.
  }

@@ -25,23 +26,26 @@ public class MonterGrimpeur extends Command {
  public void execute() {
    
    if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){
-      grimpeur.Grimper(0.5);
+      grimpeur.GrimperGauche(0.5);
+      grimpeur.GrimperDroit(0.5);
      System.out.println("monte");
    }
    else {
-      grimpeur.Grimper(0);
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
    }
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
-    return false;
+    return Math.abs(grimpeur.Position()) > grimpeur.PositionFinal();
  }
 }
--- a/src/main/java/frc/robot/generated/TunerConstants.java
+++ b/src/main/java/frc/robot/generated/TunerConstants.java
@@ -82,7 +82,8 @@ public class TunerConstants {

    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(3.895);
+    private static final Distance kWheelRadius = Inches.of(2);

    private static final boolean kInvertLeftSide = false;
    private static final boolean kInvertRightSide = true;
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -7,6 +7,7 @@ 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.SwerveModuleConstants;
 import com.ctre.phoenix6.swerve.SwerveRequest;
@@ -42,6 +43,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
    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;
@@ -53,7 +55,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
    private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
    private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
    private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-
    /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
    private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
        new SysIdRoutine.Config(
@@ -246,6 +247,12 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su

    @Override
    public void periodic() {
+        if(getPigeon2().getYaw().getValueAsDouble() > 360){
+            getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()-360);
+        }
+        else if(getPigeon2().getYaw().getValueAsDouble() < 0){
+            getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
+         }
        /*
         * Periodically try to apply the operator perspective.
         * If we haven't applied the operator perspective before, then we should apply it regardless of DS state.
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -5,7 +5,6 @@
 package frc.robot.subsystems;

 import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.SparkLowLevel.MotorType;

 import edu.wpi.first.networktables.GenericEntry;
@@ -16,28 +15,44 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;

 public class Grimpeur extends SubsystemBase {
  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
-  SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
-  SparkMaxConfig slaveConfig = new SparkMaxConfig();
+  SparkMax grimpeur1 = new SparkMax(3, MotorType.kBrushless);
+  SparkMax grimpeur2 = new SparkMax(12, MotorType.kBrushless);
+
+  // SparkMaxConfig slaveConfig = new SparkMaxConfig();
  DigitalInput limit = new DigitalInput(0);
-    private GenericEntry EncodeurGrimpeur =
-  teb.add("Position haut grimpeur", 105).getEntry();
-  public void Grimper(double vitesse){
+  private GenericEntry EncodeurGrimpeur = teb.add("Position haut grimpeur", 100).getEntry();
+
+  // public void Grimper(double vitesse){
+  // grimpeur1.configure(slaveConfig, ResetMode.kNoResetSafeParameters,
+  // PersistMode.kPersistParameters);
+  // grimpeur2.configure(slaveConfig.follow(grimpeur1),
+  // ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+  // grimpeur1.set(vitesse);
+  // }
+  public void GrimperGauche(double vitesse) {
    grimpeur1.set(vitesse);
+  }
+
+  public void GrimperDroit(double vitesse) {
    grimpeur2.set(vitesse);
  }
-  public double Position(){
+
+  public double Position() {
    return grimpeur1.getEncoder().getPosition();
  }
-  public void Reset(){
+
+  public void Reset() {
    grimpeur1.getEncoder().setPosition(0);
  }
-  public boolean Limit(){
+
+  public boolean Limit() {
    return limit.get();
  }
-  public double PositionFinal(){
-    return EncodeurGrimpeur.getDouble(105);
+
+  public double PositionFinal() {
+    return EncodeurGrimpeur.getDouble(100);
  }
+
  /** Creates a new Grimpeur. */
  public Grimpeur() {
    teb.addDouble("encodeur grimpeur", this::Position);
--- a/src/main/java/frc/robot/subsystems/LEDSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/LEDSubsystem.java
@@ -0,0 +1,149 @@
+// /* Generated by Phoenix Tuner X */
+// package frc.robot.subsystems;
+
+// import edu.wpi.first.networktables.GenericEntry;
+// import edu.wpi.first.wpilibj.DriverStation;
+// import edu.wpi.first.wpilibj.Timer;
+// import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+// import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+// import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+// import edu.wpi.first.wpilibj2.command.Command;
+// import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+// import com.ctre.phoenix6.CANBus;
+// import com.ctre.phoenix6.controls.SolidColor;
+// import com.ctre.phoenix6.hardware.CANdle;
+// import com.ctre.phoenix6.signals.RGBWColor;
+
+// /**
+//  * Subsystem that controls an addressable LED strip using a CANdle.
+//  */
+// public class LEDSubsystem extends SubsystemBase {
+//     Timer _timer;
+//     boolean q = true;
+//     ShuffleboardTab teb = Shuffleboard.getTab("teb");
+//      private GenericEntry equipe = 
+//     teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();  
+//     private final CANBus kCANBus = new CANBus("rio");
+//     private final CANdle m_candle = new CANdle(17, kCANBus);
+//     public void Bleu(){
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(255, 0, 0, 0)));
+//     }
+//     public void Rouge(){
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0)));
+//     }
+//     public void Vert(){
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0)));
+//     }
+//     public void Noir(){
+
+//         m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
+//     }
+//     public void Flash(boolean couleur){
+//         Timer timer = new Timer();
+//         if(timer.get() <0.5){
+//             if(couleur){
+//                 Bleu();
+//             }
+//             else{
+//                 Rouge();
+//             }
+//         }
+//         else{
+//             Noir();
+//             timer.reset();
+//         }
+//     }
+//     public LEDSubsystem() {
+//         setDefaultCommand(updateLEDs());
+//         _timer = new Timer();
+//         _timer.start();
+//     }
+//     public boolean Equipe(){
+//         return equipe.getBoolean(false);
+//     }
+//     /**
+//      * Updates the animations and LEDs of the CANdle.
+//      *
+//      * @return Command to run
+//      */
+//     public Command updateLEDs() {
+//         return run(() -> {
+//         //    if(q){
+//         //         _timer.reset();
+//         //         q = false;
+//         //    }
+//             double temps = _timer.get();
+//             System.out.println(temps);
+//             if(Equipe()){
+//                 if(temps > 30){
+//                     Vert();
+//                 }
+//                 else if(temps > 52){
+                    
+//                     Bleu();
+//                 }
+//                 else if(temps > 55){
+//                     Flash(true);
+//                 }
+//                 else if(temps > 67){
+//                     Rouge();
+//                 }
+//                 else if(temps  > 70){
+//                     Flash(false);
+//                 }
+//                 else if(temps > 103){
+//                     Bleu();
+//                 }
+//                 else if(temps  > 105){
+//                     Flash(true);
+//                 }
+//                 else if(temps > 127){
+//                     Rouge();
+//                 }
+//                 else if(temps > 130){
+//                     Flash(false);
+//                 }
+//                 else if(temps < 140){
+//                     Vert();
+//                 }
+//             }
+//             else{
+//                 if(temps > 110){
+//                     Vert();
+//                 }
+//                 else if(temps > 88){
+                    
+//                     Rouge();
+//                 }
+//                 else if(temps > 85){
+//                     Flash(false);
+//                 }
+//                 else if(temps > 63){
+//                     Bleu();
+//                 }
+//                 else if(temps  > 60){
+//                     Flash(true);
+//                 }
+//                 else if(temps > 33){
+//                     Rouge();
+//                 }
+//                 else if(temps  > 30){
+//                     Flash(false);
+//                 }
+//                 else if(temps > 13){
+//                     Bleu();
+//                 }
+//                 else if(temps > 10){
+//                     Flash(true);
+//                 }
+//                 else if(temps < 10){
+//                     Vert();
+//                 }
+//             }
+//             // _timer.stop();
+            
+//         });
+//     }
+// }
+
--- a/src/main/java/frc/robot/subsystems/Led.java
+++ b/src/main/java/frc/robot/subsystems/Led.java
@@ -1,136 +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 java.util.Optional;
-
-import com.ctre.phoenix.led.CANdle;
-import com.ctre.phoenix.led.RainbowAnimation;
-
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Led extends SubsystemBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  private GenericEntry equipe = 
-  teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  CANdle CANDle = new CANdle(17);
-  RainbowAnimation rainbowAnim = new RainbowAnimation();
-    public void bleu(){
-    CANDle.setLEDs(0, 0, 255,0,0,8);
-    CANDle.setLEDs(0, 0, 255,0,16,8);
-    CANDle.setLEDs(0, 0, 255,0,32,8);
-    CANDle.setLEDs(0, 0, 255,0,56,8);
-    CANDle.setLEDs(0, 0, 255,0,72,8);
-    CANDle.setLEDs(0, 0, 255,0,88,8);
-    CANDle.setLEDs(0, 0, 255,0,104,8);
-    CANDle.setLEDs(0, 0, 255,0,120,8);
-    CANDle.setLEDs(0, 0, 255,0,136,8);
-    
-  }
-  public void Vert1(){
-    CANDle.setLEDs(0, 255, 0,0,0,8);
-    CANDle.setLEDs(0, 255, 0,0,16,8);
-    CANDle.setLEDs(0, 255, 0,0,32,8);
-    CANDle.setLEDs(0, 255, 0,0,56,8);
-    CANDle.setLEDs(0, 255, 0,0,72,8);
-    CANDle.setLEDs(0, 255, 0,0,88,8);
-    CANDle.setLEDs(0, 255, 0,0,104,8);
-    CANDle.setLEDs(0, 255, 0,0,120,8);
-    CANDle.setLEDs(0, 255, 0,0,136,8);
-  }
-  public void Rouge(){
-    CANDle.setLEDs(255, 0, 0,0,0,8);
-    CANDle.setLEDs(255, 0, 0,0,16,8);
-    CANDle.setLEDs(255, 0, 0,0,32,8);
-    CANDle.setLEDs(255, 0, 0,0,48,8);
-    CANDle.setLEDs(255, 0, 0,0,64,8);
-    CANDle.setLEDs(255, 0, 0,0,80,8);
-    CANDle.setLEDs(255, 0, 0,0,96,8);
-    CANDle.setLEDs(255, 0, 0,0,112,8);
-    CANDle.setLEDs(255, 0, 0,0,128,8);
-  }
-  public void Jaune2(){
-    CANDle.setLEDs(255, 255, 0,0,8,8);
-    CANDle.setLEDs(255, 255, 0,0,24,8);
-    CANDle.setLEDs(255, 255, 0,0,40,8);
-    CANDle.setLEDs(255, 255, 0,0,56,8);
-    CANDle.setLEDs(255, 255, 0,0,72,8);
-    CANDle.setLEDs(255, 255, 0,0,88,8);
-    CANDle.setLEDs(255, 255, 0,0,104,8);
-    CANDle.setLEDs(255, 255, 0,0,120,8);
-    CANDle.setLEDs(255, 255, 0,0,136,8);
-  }
-  public void Rouge2(){
-    CANDle.setLEDs(255, 0, 0,0,8,8);
-    CANDle.setLEDs(255, 0, 0,0,24,8);
-    CANDle.setLEDs(255, 0, 0,0,40,8);
-    CANDle.setLEDs(255, 0, 0,0,56,8);
-    CANDle.setLEDs(255, 0, 0,0,72,8);
-    CANDle.setLEDs(255, 0, 0,0,88,8);
-    CANDle.setLEDs(255, 0, 0,0,104,8);
-    CANDle.setLEDs(255, 0, 0,0,120,8);
-    CANDle.setLEDs(255, 0, 0,0,136,8);
-  }
-  public void RainBow(){
-    CANDle.animate(rainbowAnim);
-  }
-  public void RainBowStop(){
-    CANDle.animate(null);
-  }
-  public boolean Equipe(){
-    return equipe.getBoolean(true);
-  }
-  /** Creates a new Led. */
-  public Led() {}
-
-  @Override
-  public void periodic() {
-    double temps = DriverStation.getMatchTime();
-    if(temps > 20 && temps < 30){
-      Vert1();
-    }
-    if(Equipe()){
-      if(temps > 30 && temps < 55){
-        bleu();
-      }
-      else if(temps > 30 && temps < 80){
-        Rouge();
-      }
-      else if(temps > 80 && temps < 105){
-        bleu();
-      }
-      else if(temps > 105 && temps < 130){
-        Rouge();
-      }
-      else{
-        RainBow();
-      }
-    }
-    else{
-      if(temps > 30 && temps < 55){
-        Rouge();
-      }
-      else if(temps > 30 && temps < 80){
-        bleu();
-      }
-      else if(temps > 80 && temps < 105){
-        Rouge();
-      }
-      else if(temps > 105 && temps < 130){
-        bleu();
-      }
-      else{
-        RainBow();
-      }
-    }
-    // This method will be called once per scheduler run
-  }
-}
--- a/src/main/java/frc/robot/subsystems/LimeLight3.java
+++ b/src/main/java/frc/robot/subsystems/LimeLight3.java
@@ -22,13 +22,13 @@ public class LimeLight3 extends SubsystemBase {
  }
  public double[] getBotPoseBlue(){
    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
    return BotPose;
    }
    public double[] getBotPoseRed(){
      NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
    return BotPose;
    }
--- a/src/main/java/frc/robot/subsystems/Limelight3G.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3G.java
@@ -52,7 +52,28 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
    }
    public double Calcule(double x1, double x2, double y1, double y2, double angle)
    {
-      return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
+      // if(x1 > x2){
+      //   if(y1 > y2){
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
+      //   }
+      //   else{
+      //     return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+90 - angle;
+      //   }
+      // }
+      // else{
+      //   if(y1 > y2){
+      //     return Math.atan((x2 - x1) / (y2 - y1))* (180 / Math.PI)+270 - angle;
+      //   }
+      //   else{
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI)+180 - angle;
+      //   }
+      // }
+      if(y1 > y2){
+          return Math.toDegrees(Math.atan((x2 - x1) /(y2 - y1))) - angle;
+        }
+        else{
+          return Math.toDegrees(-Math.atan((x2 - x1) / (y2 - y1))) - angle;
+        }
    }
  @Override
  public void periodic() {
--- a/vendordeps/PathplannerLib-2026.1.2.json
+++ b/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,
--- a/vendordeps/Phoenix5-5.36.0.json
+++ b/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",
-    "frcYear": "2025",
+    "version": "5.36.0",
+    "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",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json"
+            "offlineFileName": "Phoenix6-frc2026-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,
--- a/vendordeps/Phoenix6-frc2025-latest.json
+++ b/vendordeps/Phoenix6-frc2025-latest.json
@@ -1,32 +1,32 @@
 {
-    "fileName": "Phoenix6-frc2025-latest.json",
+    "fileName": "Phoenix6-26.1.3.json",
    "name": "CTRE-Phoenix (v6)",
-    "version": "25.4.0",
-    "frcYear": "2025",
+    "version": "26.1.3",
+    "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",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simCANCoder",
-            "version": "25.4.0",
+            "version": "26.1.3",
            "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,
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,25 +1,55 @@
 {
    "fileName": "REVLib.json",
    "name": "REVLib",
-    "version": "2025.0.3",
-    "frcYear": "2025",
+    "version": "2026.0.5",
+    "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"
+            ]
        }
    ]
 }
--- a/vendordeps/WPILibNewCommands.json
+++ b/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",
Author	SHA1	Message	Date
samuel desharnais	41f6e4747f	competiton	2026-04-11 08:16:06 -04:00
samuel desharnais	7908d4c5df	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-04-07 19:53:33 -04:00
samuel desharnais	2263961829	led	2026-04-07 19:53:00 -04:00
Antoine PerreaultE	27ea9d96e3	grimpe	2026-04-07 19:51:41 -04:00
Antoine PerreaultE	01edf1cb01	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-04-07 18:06:45 -04:00
Antoine PerreaultE	0b4c0e09ff	oui	2026-04-07 18:06:11 -04:00
samuel desharnais	6c86b2ed5c	grimpe mode auto	2026-04-02 20:34:53 -04:00
samuel desharnais	6885b80d6a	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-04-02 17:13:57 -04:00
samuel desharnais	2472c67adf	limelight	2026-04-02 17:13:54 -04:00
Antoine PerreaultE	c8d0ee3a03	grimpe en auto	2026-04-01 19:58:45 -04:00
Antoine PerreaultE	3300d74a78	grimpe autre cote auto	2026-04-01 19:58:05 -04:00
Antoine PerreaultE	bdffb48ece	led	2026-04-01 19:35:55 -04:00
Antoine PerreaultE	5f44d5304a	mode autonise mieux	2026-04-01 19:35:31 -04:00
Antoine PerreaultE	9aa7018812	inverse mieux	2026-04-01 19:29:34 -04:00
Antoine PerreaultE	d98dc4e467	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-04-01 19:27:14 -04:00
Antoine PerreaultE	b0ad34519e	mode auto	2026-04-01 19:27:12 -04:00
samuel desharnais	7b734cc046	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-04-01 19:13:26 -04:00
samuel desharnais	cdca0230a4	bouge mieux	2026-04-01 19:13:25 -04:00
Antoine PerreaultE	56b28100df	weq	2026-04-01 19:11:30 -04:00
Antoine PerreaultE	db935eceda	regle crach	2026-04-01 19:11:09 -04:00
Antoine PerreaultE	da28ff48db	position qui change	2026-04-01 18:43:24 -04:00
Antoine PerreaultE	5b6e3ac7b2	led	2026-04-01 18:38:30 -04:00
Antoine PerreaultE	9585c17bdb	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-04-01 18:23:51 -04:00
Antoine PerreaultE	07eeaffa32	led mieux écrit	2026-04-01 18:22:02 -04:00
samuel desharnais	8202b012cb	led	2026-04-01 18:20:55 -04:00
Samuel	e5f7b05063	enlever rainbowAnim	2026-04-01 13:14:26 -04:00
Samuel	5916f4f141	led	2026-04-01 13:13:18 -04:00
odubois	4438560698	bf	2026-04-01 05:21:41 +02:00
odubois	b2d4647e41	gt	2026-04-01 04:48:34 +02:00
odubois	75922f581c	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-04-01 04:48:25 +02:00
odubois	a429b936d2	limelight	2026-04-01 04:40:40 +02:00
samuel desharnais	3b06cbd447	led	2026-03-31 20:29:45 -04:00
Antoine PerreaultE	7b535a845f	grimpe en rouge aussi	2026-03-31 19:59:15 -04:00
samuel desharnais	42e35fca8a	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-03-31 19:53:27 -04:00
samuel desharnais	272f89962a	mode marche yesssssssss	2026-03-31 19:53:25 -04:00
Antoine PerreaultE	52c72e9a61	inverser	2026-03-31 19:52:24 -04:00
Antoine PerreaultE	4d1b353e25	limelighter coriger	2026-03-31 19:20:34 -04:00
samuel desharnais	9d09af20b0	vfdrty	2026-03-31 19:11:09 -04:00
samuel desharnais	ae9a6bd046	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-03-31 17:54:41 -04:00
samuel desharnais	10b0110315	mode auto	2026-03-31 17:53:41 -04:00
odubois	098f16665a	limelight pls marche	2026-03-31 05:19:16 +02:00
odubois	1240160ed7	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-03-31 03:31:20 +02:00
odubois	4068016d36	get alliance -> dans initialise	2026-03-31 03:31:15 +02:00
Antoine PerreaultE	6afc342006	limelight	2026-03-30 17:53:54 -04:00
odubois	f7e88619e9	limelight	2026-03-30 05:04:22 +02:00
odubois	5c626f33e3	test	2026-03-29 23:30:52 +02:00
samuel desharnais	673a7fcb82	vgft	2026-03-28 20:50:33 -04:00
samuel desharnais	755d79aa18	oui	2026-03-28 16:01:40 -04:00
samuel desharnais	799e3e34c3	m	2026-03-28 15:53:53 -04:00
samuel desharnais	fbd94fc33d	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-03-28 14:42:07 -04:00
samuel desharnais	9e3bd6e7d3	bngvthf	2026-03-28 14:41:49 -04:00
Antoine PerreaultE	bd853dfc79	lanceur	2026-03-28 14:35:18 -04:00
Antoine PerreaultE	cb3104152c	voltage et allaince	2026-03-28 13:51:22 -04:00
Antoine PerreaultE	85da1dcad1	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-03-28 13:21:35 -04:00
Antoine PerreaultE	a92a7a0ea1	pigeon	2026-03-28 13:21:30 -04:00
samuel desharnais	ba57959f4d	debug samedi	2026-03-28 13:20:52 -04:00
samuel desharnais	79568a58b9	debug de jeudi	2026-03-28 09:16:33 -04:00
samuel desharnais	57fa3597e2	debug de jeudi	2026-03-28 09:16:22 -04:00
Antoine PerreaultE	5ba5cce953	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-03-26 17:49:01 -04:00
Antoine PerreaultE	d0c50cbd6e	mode auto pls marche pls	2026-03-26 17:46:22 -04:00
samuel desharnais	0492c9a2c6	mettre en 2026	2026-03-26 17:45:25 -04:00
Antoine PerreaultE	69fe4a58d0	e	2026-03-25 18:26:48 -04:00
Antoine PerreaultE	92b876e7b0	angle	2026-03-25 18:09:31 -04:00
Antoine PerreaultE	22746ab8ca	tourner a zero/180 regle	2026-03-24 20:28:03 -04:00
Antoine PerreaultE	70b796e99a	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-03-24 20:20:05 -04:00
Antoine PerreaultE	083288d3fc	oui	2026-03-24 20:20:02 -04:00