competiton

.vscode/settings.json

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

.wpilib/wpilib_preferences.json

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

WPILib-License.md

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

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
 }
 
 java {
@@ -43,7 +43,8 @@ deploy {
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
-// Set to true to use debug for JNI.
+// Set to true to use debug for all targets including JNI, which will drastically impact
+// performance.
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
@@ -88,7 +89,9 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    from sourceSets.main.allSource
+    from('src') { into 'backup/src' }
+    from('vendordeps') { into 'backup/vendordeps' }
+    from('build.gradle') { into 'backup' }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }

settings.gradle

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

simgui-ds.json

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

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

@@ -4,20 +4,26 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "wait",
                 "data": {
-                  "pathName": "Depot"
+                  "waitTime": 3.0
                 }
               },
               {
-                "type": "named",
+                "type": "path",
                 "data": {
-                  "name": "DescendreBalayeuse"
+                  "pathName": "Depot"
                 }
               },
               {
@@ -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"
           }
         },
         {

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

@@ -13,7 +13,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Limelighter"
+            "name": "DescendreBalayeuse"
           }
         },
         {

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
@@ -14,12 +20,6 @@
                   "pathName": "Depot"
                 }
               },
-              {
-                "type": "named",
-                "data": {
-                  "name": "DescendreBalayeuse"
-                }
-              },
               {
                 "type": "named",
                 "data": {
@@ -35,12 +35,6 @@
             "pathName": "Tir"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "Limelighter"
-          }
-        },
         {
           "type": "named",
           "data": {

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

@@ -4,20 +4,26 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
         {
           "type": "deadline",
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "wait",
                 "data": {
-                  "pathName": "Depot"
+                  "waitTime": 3.0
                 }
               },
               {
-                "type": "named",
+                "type": "path",
                 "data": {
-                  "name": "DescendreBalayeuse"
+                  "pathName": "Depot"
                 }
               },
               {
@@ -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"
           }
         },
         {

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5473894436519258,
+        "x": 3.602,
         "y": 4.015592011412268
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.494897544356074,
+        "x": 2.549508100704148,
         "y": 4.011425161481168
       },
       "isLocked": false,
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.7359771754636228,
+        "x": 1.643730569948188,
         "y": 4.015592011412268
       },
       "prevControl": {
-        "x": 2.627549770741877,
+        "x": 2.5679620034542325,
-        "y": 4.02839075681212
+        "y": 4.011502590673576
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

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

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

src/main/deploy/pathplanner/settings.json

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

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

@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,6 +21,15 @@ public class Robot extends TimedRobot {
   @Override
   public void robotPeriodic() {
     CommandScheduler.getInstance().run();
+    var driveState = m_robotContainer.drivetrain.getState();
+    double headingDeg = driveState.Pose.getRotation().getDegrees();
+    double omegaRps = Units.radiansToRotations(driveState.Speeds.omegaRadiansPerSecond);
+
+    LimelightHelpers.SetRobotOrientation("limelight_tag", headingDeg, 0, 0, 0, 0, 0);
+    var llMeasurement = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2("limelight_tag");
+    if (llMeasurement != null && llMeasurement.tagCount > 0 && Math.abs(omegaRps) < 2.0) {
+        m_robotContainer.drivetrain.addVisionMeasurement(llMeasurement.pose, llMeasurement.timestampSeconds);
+    }
   }
 
   @Override

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

@@ -14,33 +14,40 @@ import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import 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.DescendreGrimpeurPlus;
+import frc.robot.commands.Inverser;
 import frc.robot.commands.Lancer;
+import frc.robot.commands.LancerAspirer;
 import frc.robot.commands.LancerBaseVitesse;
 import frc.robot.commands.Limelighter;
 import frc.robot.commands.ModeOposer;
+import frc.robot.commands.ModeOposerBalayeuse;
+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.TournerA180;
+import frc.robot.commands.ModeAuto.TournerVersMur;
-import frc.robot.commands.ModeAuto.TournerAZero;
+import frc.robot.commands.ModeAuto.TournerVersReservoir;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.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;
 
@@ -51,66 +58,85 @@ 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);
-  private double MaxSpeed = 1.0 * TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
+  CommandXboxController manette1 = new CommandXboxController(1);
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
     private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
     /* Setting up bindings for necessary control of the swerve drive platform */
     private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
             .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
-    private final 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() {
-    autoChooser = AutoBuilder.buildAutoChooser();
+    NamedCommands.registerCommand("droite", new BougerDroiteAuto(drivetrain));
-    CameraServer.startAutomaticCapture();
+    NamedCommands.registerCommand("gauche", new BougerGaucheAuto(drivetrain));
-    configureBindings();
     NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
     NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
-    NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur));
+    NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
-    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite());
+    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain,limeLight3G));
-    NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche());
+    NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche(drivetrain, limeLight3G));
-    NamedCommands.registerCommand("Limelighter", new Limelighter(limeLight3G,drivetrain));
+    NamedCommands.registerCommand("Limelighter", new LimelighterAuto(limeLight3G,drivetrain));
     NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
     NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
-    NamedCommands.registerCommand("TournerAZero", new TournerAZero(drivetrain));
+    NamedCommands.registerCommand("TournerA180", new TournerVersReservoir(drivetrain));
-    NamedCommands.registerCommand("TournerA180", new TournerA180(drivetrain));
+    NamedCommands.registerCommand("TournerAZero", new TournerVersMur(drivetrain));
     NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
     NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
+    autoChooser = AutoBuilder.buildAutoChooser();
+    SmartDashboard.putData("Auto Chooser", autoChooser);
+    
+    CameraServer.startAutomaticCapture();
+    
+    configureBindings();
   }
 
   private void configureBindings() {
+    //ledSubsystem.setDefaultCommand(ledSubsystem.updateLEDs());
     drivetrain.setDefaultCommand(
           drivetrain.applyRequest(() ->
-            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05)) 
+            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) 
-              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed, 0.05)) 
+              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed*0.7, 0.05)) 
-             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
+             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate*1.5, 0.05))
         )
       );
-          manette.y().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
+    //manette 1
-    manette.a().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
+    // manette1.povUp().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
-    manette.b().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
+    // manette1.povDown().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
-    manette.x().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
+    // manette1.povRight().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
+    // manette1.povLeft().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
     
-    manette.povUp().whileTrue(new LancerAuto(lanceur));
+    manette.povUp().whileTrue(new MonterGrimpeur(grimpeur));
-    manette.a().whileTrue(new Lancer(lanceur,limeLight3G,balayeuse,led));
+    manette.povDown().whileTrue(new DescendreGrimpeurPlus(grimpeur));
-    manette.y().whileTrue(new ModeOposer(lanceur, balayeuse));
+    manette.rightTrigger().whileTrue(new Lancer(lanceur, limeLight3G));
-    manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3, balayeuse, led));
+    manette.leftTrigger().whileTrue(new Limelighter(limeLight3G, drivetrain));
-    manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));
-    manette.leftTrigger().whileTrue(new DescendreGrimpeur(grimpeur));
-    manette.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
     manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
-    manette.b().whileTrue(new Aspirer(balayeuse,led));
+    manette.rightBumper().whileTrue(new Aspirer(balayeuse));
+    manette.b().whileTrue(new GrimperReservoir(limeLight3G, drivetrain));
+    manette.x().whileTrue(new GrimperMur(limeLight3, drivetrain));
+
+
+    //manette 2
+    manette1.rightTrigger().whileTrue(new Aspirer(balayeuse));
+    manette1.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
+    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() {
     return autoChooser.getSelected();
+    // return getAutonomousCommand();
   }
 }

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

@@ -4,66 +4,36 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Balayeuse;
-import frc.robot.subsystems.Led;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class Aspirer extends Command {
   private Balayeuse balayeuse;
-  private Timer timer;
-  private Led led;
-  private double temp;
   /** Creates a new Aspirer. */
-  public Aspirer(Balayeuse balayeuse, Led led) {
+  public Aspirer(Balayeuse balayeuse) {
     this.balayeuse = balayeuse;
-    this.led = led;
+    addRequirements(balayeuse); 
-    this.timer = new Timer();
-    addRequirements(balayeuse, led); 
-    this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    timer.reset();
-    temp = balayeuse.Amp();  
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    timer.start();
+    balayeuse.BalayerEnbas(-0.5);
-    int nbFois = 0;
+    balayeuse.BalayerPadle(-0.2);
-    double moyenneAmp = 0;    
-    if(timer.get() <3){
-      nbFois++;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-    }
-    else{
-      nbFois++;
-      moyenneAmp -= temp;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-      temp = balayeuse.Amp();
-    }
-    if(moyenneAmp < balayeuse.AmpMax()){
-      timer.reset();
-      balayeuse.Balayer(-0.5);
-    }
-    else{
-        balayeuse.Balayer(0);
-        led.Jaune2();
-    }
-
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    balayeuse.Balayer(0);
+    balayeuse.BalayerEnbas(0);
-    timer.stop();
+    balayeuse.BalayerPadle(0);
   }
 
   // Returns true when the command should end.

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

@@ -25,7 +25,7 @@ public class DescendreBalyeuse extends Command {
   @Override
   public void execute() {
     if(Math.abs(balayeuse.Distance()) < balayeuse.EncodeurBalayeuse()){
-      balayeuse.Pivoter(-0.2);
+      balayeuse.Pivoter(-0.5);
     }
     else{
       balayeuse.Pivoter(0);
@@ -41,6 +41,6 @@ public class DescendreBalyeuse extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return Math.abs(balayeuse.Distance()) > balayeuse.EncodeurBalayeuse();
   }
 }

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(-0.3);
+      grimpeur.GrimperGauche(-0.4);
+      grimpeur.GrimperDroit(-0.4);
     }
     else{
       grimpeur.Reset();
-      grimpeur.Grimper(0);
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
   }
 
   // Returns true when the command should end.

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

@@ -0,0 +1,50 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class DescendreGrimpeurPlus extends Command {
+  private Grimpeur grimpeur;  
+  /** Creates a new DescendreGrimpeur. */
+  public DescendreGrimpeurPlus(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(!grimpeur.Limit()){
+      grimpeur.GrimperGauche(-0.4);
+      grimpeur.GrimperDroit(-0.4);
+    }
+    else{
+      grimpeur.Reset();
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.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 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() {
+    drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/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 */
@@ -18,74 +20,64 @@ public class Lancer extends Command {
   private PIDController pidController;
   private Limelight3G limeLight3G;
   private Timer timer;
-  private Balayeuse balayeuse;
+      double vitesse = 0;
-  private Led led;
+          double botx = 0;
-  private double temp;
+    double boty = 0;
+      Optional<Alliance> alliance = DriverStation.getAlliance(); 
+
   /** Creates a new Lancer. */
-  public Lancer(Lanceur lanceur, Limelight3G limeLight3G, Balayeuse balayeuse,Led led) {
+  public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
     this.lanceur = lanceur;
-    this.balayeuse = balayeuse;
-    this.led = led;
     this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
+    this.limeLight3G = limeLight3G;
-    addRequirements(lanceur, balayeuse, led, 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() {
-    pidController = new PIDController(1, 0,0, 0);
+    if(limeLight3G.getV()){}
+    pidController = new PIDController(0.0007, 0,0, 0.001);
     timer.reset();
-    timer.start();
+    alliance = DriverStation.getAlliance();  
-    temp = lanceur.Amp();    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double botx = 0;
-    double boty = 0;
     double[] BotPose = new double[6];
     if(limeLight3G.getV()){
-      BotPose = limeLight3G.getBotPoseBlue();
+    if(!alliance.isPresent()){
-      botx = BotPose[0];
+      return;
-      boty = BotPose[1];
     }
-    int nbFois = 0;
+      if(alliance.get() == Alliance.Blue){
-
+        BotPose = limeLight3G.getBotPoseBlue();
-    double moyenneAmp = 0;
-    if(timer.get() < 3){
-      nbFois++;
-      moyenneAmp += balayeuse.Amp() / nbFois;
       }
       else{
-      nbFois++;
+        BotPose = limeLight3G.getBotPoseRed();
-      moyenneAmp -= temp;
-      moyenneAmp += balayeuse.Amp() / nbFois;
-      temp = balayeuse.Amp();
       } 
-    // if(moyenneAmp > lanceur.AmpBas() && nbFois > 10){
+      botx = BotPose[0];
-      timer.reset();
+      boty = BotPose[1];
-      balayeuse.Balayer(-0.5);
+    vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
-      // led.Jaune2();
+  }                                            
-    // }
+    // if(limeLight3G.getV()){
-    // else{
       
-         double vitesse = 0.5;
+      if(vitesse > 2000){
-         if(limeLight3G.getV()){
+      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
-                                          //pythagore |
-                                          //         \/
-            vitesse = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
-         }                                   
-      double output = vitesse; /*pidController.calculate(lanceur.Vitesse(),vitesse);*/
       lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse){
+      System.out.println(output);
-        lanceur.Demeler(0.5);
+      if(lanceur.Vitesse() >= vitesse-800){
+        timer.start();
+        if(timer.get() >1){
+          lanceur.Demeler(1);
+        }
+      }
+      else{
+        lanceur.Lancer(3500);
+      }
     }
   // }
-
   }
 
   // Called once the command ends or is interrupted.
@@ -93,7 +85,8 @@ public class Lancer extends Command {
   public void end(boolean interrupted) {
     lanceur.Demeler(0);
     lanceur.Lancer(0);
-    balayeuse.Pivoter(0);
+    timer.reset();
+    timer.stop();
   }
 
   // Returns true when the command should end.

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

@@ -0,0 +1,23 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import frc.robot.subsystems.Balayeuse;
+import frc.robot.subsystems.Lanceur;
+import frc.robot.subsystems.Limelight3G;
+
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class LancerAspirer extends ParallelCommandGroup {
+  /** Creates a new LacerAspirer. */
+  public LancerAspirer(Lanceur lanceur, Balayeuse balayeuse, Limelight3G limeLight3G) {
+    addCommands(new Lancer(lanceur, limeLight3G), new Aspirer(balayeuse));
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+  }
+}

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

@@ -5,73 +5,44 @@
 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.Balayeuse;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
-import frc.robot.subsystems.LimeLight3;
-import frc.robot.subsystems.Limelight3G;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class LancerBaseVitesse extends Command {
   private Lanceur lanceur;
   private PIDController pidController;
-  private Limelight3G limeLight3G;
   private Timer timer;
-  private Balayeuse balayeuse;
+  double tempsDebut = 0;
-  private Led led;
-  private double temp;
   /** Creates a new Lancer. */
-  public LancerBaseVitesse(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
+  public LancerBaseVitesse(Lanceur lanceur) {
     this.lanceur = lanceur;
-    this.balayeuse = balayeuse;
-    this.led = led;
    this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
+    addRequirements(lanceur);
-    addRequirements(lanceur, balayeuse, led, limeLight3G);
+    //this.temp = 0;
-    this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    pidController = new PIDController(1, 0,0, 0);
+    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;
+    System.out.println(DriverStation.getMatchTime());
-
+      double vitesse = lanceur.vitesseDemander();
-    // double moyenneAmp = 0;
-    // if(timer.get() < 3){
-    //   nbFois++;
-    //   moyenneAmp += balayeuse.Amp() / nbFois;
-    // }
-    // else{
-    //   nbFois++;
-    //   moyenneAmp -= temp;
-    //   moyenneAmp += balayeuse.Amp() / nbFois;
-    //   temp = balayeuse.Amp();
-    // }
-    // if(moyenneAmp > 30 && nbFois > 10){
-    //   timer.reset();
-    //   balayeuse.Balayer(0.5);
-    //   led.Jaune2();
-    // }
-    // else{
-      double vitesse = 0.4;
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse){
+      if(timer.get() > 1){
-        lanceur.Demeler(0.5);
+        lanceur.Demeler(1);
        }
-    // }
 
   }
 
@@ -80,7 +51,8 @@ public class LancerBaseVitesse extends Command {
   public void end(boolean interrupted) {
     lanceur.Demeler(0);
     lanceur.Lancer(0);
-    balayeuse.Pivoter(0);
+    timer.reset();
+    timer.stop();
   }
 
   // Returns true when the command should end.

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);
@@ -24,9 +27,13 @@ public class Limelighter extends Command {
   double botx;
   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);
+
   /** Creates a new Limelighter. */
   public Limelighter(Limelight3G limelight3g, CommandSwerveDrivetrain drivetrain) {
     this.limelight3g = limelight3g;
@@ -37,35 +44,91 @@ public class Limelighter extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     double[] BotPose = new double[6];
+    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];
-    drivetrain.setControl(drive.withRotationalRate(limelight3g.Calcule(4.625594, botx, 4.034536, boty, BotPose[5])/90));
+      calcul = Math.toRadians(limelight3g.Calcule(boty, 4,botx, x, angle));
-    if(limelight3g.Calcule(4.625594, botx, 4.034536, boty, angle)/90 < 0.1){
+      System.out.println(calcul);
-      timer.start();
+      //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();
+      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{
-      timer.reset();
+        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));
+    }
+  }
+
 
   // Called once the command ends or is interrupted.
   @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 timer.get() > 1;
+    return false;
   }
 }

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

@@ -24,13 +24,15 @@ public class AspirerAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    balayeuse.Balayer(0.5);
+    balayeuse.BalayerEnbas(-0.5);
+    balayeuse.BalayerPadle(-0.2);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    balayeuse.Balayer(0);
+    balayeuse.BalayerEnbas(0);
+    balayeuse.BalayerPadle(0);
   }
 
   // Returns true when the command should end.

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

@@ -4,26 +4,32 @@
 
 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.hardware.Pigeon2;
 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;
-import static edu.wpi.first.units.Units.*;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class TournerA180 extends Command {
+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);
-  Pigeon2 pigeon2; 
+  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 TournerAZero. */
+  /** Creates a new AvanceAuto. */
-  public TournerA180(CommandSwerveDrivetrain drivetrain) {
+  public BougerDroiteAuto(CommandSwerveDrivetrain drivetrain) {
     this.drivetrain = drivetrain;
     addRequirements(drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -31,26 +37,33 @@ public class TournerA180 extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  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(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+      if(timer.get() < 1.25){
-      drivetrain.setControl(drive.withRotationalRate(-0.5));
+        drivetrain.setControl(drive.withVelocityY(-1.5));
       }
-    else if(pigeon2.getYaw().getValueAsDouble() >180){
+      else{
-      drivetrain.setControl(drive.withRotationalRate(0.5));
+        drivetrain.setControl(drive.withVelocityY(0));
       }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return pigeon2.getYaw().getValueAsDouble() > 165  && pigeon2.getYaw().getValueAsDouble() < 195;
+    return timer.get() > 1;
   }
 }

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

@@ -4,26 +4,32 @@
 
 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.hardware.Pigeon2;
 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;
-import static edu.wpi.first.units.Units.*;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class TournerAZero extends Command {
+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);
-  Pigeon2 pigeon2; 
+  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 TournerAZero. */
+  /** Creates a new AvanceAuto. */
-  public TournerAZero(CommandSwerveDrivetrain drivetrain) {
+  public BougerGaucheAuto(CommandSwerveDrivetrain drivetrain) {
         this.drivetrain = drivetrain;
     addRequirements(drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -31,26 +37,33 @@ public class TournerAZero extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  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(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+      if(timer.get() < 1.25){
-      drivetrain.setControl(drive.withRotationalRate(0.5));
+        drivetrain.setControl(drive.withVelocityY(1.5));
       }
-    else if(pigeon2.getYaw().getValueAsDouble() >180){
+      else{
-      drivetrain.setControl(drive.withRotationalRate(-0.5));
+        drivetrain.setControl(drive.withVelocityY(0));
       }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return pigeon2.getYaw().getValueAsDouble() > 345 || pigeon2.getYaw().getValueAsDouble() < 15;
+    return timer.get() > 1;
   }
 }

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){
+      if(angle < 0){
-      drivetrain.setControl(drive.withVelocityX(2.961328-boty).withVelocityY(1.11-botx));
+        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);
   }
 }

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){
+      if(angle < 0){
-      drivetrain.setControl(drive.withVelocityX(5.081328-boty).withVelocityY(1.11-botx));
+        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);
   }
 }

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

@@ -4,33 +4,74 @@
 
 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;
+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 LancerAuto extends Command {
   Lanceur lanceur;
   Timer timer;
+  private PIDController pidController;
+  Limelight3G limelight3g;
+  double botx = 0;
+  double boty = 0;
+  Optional<Alliance> alliance = DriverStation.getAlliance();
+
   /** Creates a new LancerAuto. */
-  public LancerAuto(Lanceur lanceur) {
+  public LancerAuto(Lanceur lanceur, Limelight3G limelight3g) {
     this.lanceur = lanceur;
-    addRequirements(lanceur);
+    timer = new Timer();
+    this.limelight3g = limelight3g;
+    addRequirements(lanceur, limelight3g);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    timer.start();
+    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() {
-    lanceur.Lancer(0.5);
+    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("lancer");
+
+      double output = pidController.calculate(lanceur.Vitesse(), vitesse);
+      lanceur.Lancer(output);
+      if (lanceur.Vitesse() >= vitesse - 800) {
+        timer.start();
         if (timer.get() > 1) {
-      lanceur.Demeler(0.5);
+          lanceur.Demeler(1);
+        }
+      }
     }
   }
 
@@ -46,6 +87,7 @@ public class LancerAuto extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return timer.get() > 3;
+    return timer.get() > 4;
+    // return false;
   }
 }

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

@@ -0,0 +1,133 @@
+// 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.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;
+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 {
+  Limelight3G limelight3g;
+  CommandSwerveDrivetrain drivetrain;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  double botx;
+  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);
+
+  /** Creates a new Limelighter. */
+  public LimelighterAuto(Limelight3G limelight3g, CommandSwerveDrivetrain drivetrain) {
+    this.limelight3g = limelight3g;
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain, limelight3g);
+    // 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() {
+    double[] BotPose = new double[6];
+    System.out.println("e");
+    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 = limelight3g.Calcule(botx, x, boty, 4, angle);
+      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();
+      // 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));
+    }
+  }
+
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withRotationalRate(0));
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+   return calcul > -5 && calcul < 5;
+  }
+}
+

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);
   }
 }

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. */
+  CommandSwerveDrivetrain drivetrain;
-  public RetourMilieuGauche() {
+  Limelight3G limelight3g;
+  double botx;
+  double boty;
+  double x;
+  double y;
+  double angle;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance = DriverStation.getAlliance(); 
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new RetourMilieu. */
+  public RetourMilieuGauche(CommandSwerveDrivetrain drivetrain, Limelight3G limelight3g) {
+    this.drivetrain = drivetrain;
+    this.limelight3g = limelight3g;
+    addRequirements(drivetrain, 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);
   }
 }

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

@@ -0,0 +1,72 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.ModeAuto;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class TournerVersMur extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Optional<Alliance> alliance = DriverStation.getAlliance();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  double force;
+  double angle;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new TournerAZero. */
+  public TournerVersMur(CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    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(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
+    }
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 10;
+  }
+}

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

@@ -0,0 +1,79 @@
+// 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;
+  }
+}

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

@@ -5,17 +5,14 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Lanceur;
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class ModeOposer extends Command {
   private Lanceur lanceur;
-  private Balayeuse balayeuse;
   /** Creates a new Lancer. */
-  public ModeOposer(Lanceur lanceur, Balayeuse balayeuse) {
+  public ModeOposer(Lanceur lanceur) {
     this.lanceur = lanceur;
-    this.balayeuse = balayeuse;
+    addRequirements(lanceur);
-    addRequirements(lanceur ,balayeuse);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -29,7 +26,6 @@ public class ModeOposer extends Command {
   public void execute() {
     lanceur.Lancer(-0.2);
     lanceur.Demeler(-0.2);
-    balayeuse.Balayer(-0.2);
   }
 
   // Called once the command ends or is interrupted.
@@ -37,7 +33,6 @@ public class ModeOposer extends Command {
   public void end(boolean interrupted) {
     lanceur.Demeler(0);
     lanceur.Lancer(0);
-    balayeuse.Balayer(0);
   }
 
   // Returns true when the command should end.

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

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ModeOposerBalayeuse extends Command {
+  private Balayeuse balayeuse;
+  /** Creates a new Lancer. */
+  public ModeOposerBalayeuse(Balayeuse balayeuse) {
+    this.balayeuse = balayeuse;
+    addRequirements(balayeuse);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {  
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    balayeuse.BalayerEnbas(0.5);
+    balayeuse.BalayerPadle(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.BalayerEnbas(0);
+    balayeuse.BalayerPadle(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -5,32 +5,33 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Led;
+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 RainBowAnim extends Command {
+public class ModeOposerDemeleur extends Command {
-  private Led led;
+  private Lanceur lanceur;
-  /** Creates a new RainBowAnim. */
+  /** Creates a new Lancer. */
-  public RainBowAnim(Led led) {
+  public ModeOposerDemeleur(Lanceur lanceur) {
-    this.led = led;
+    this.lanceur = lanceur;
-    addRequirements(led);
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {  
-    led.RainBow();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    lanceur.Demeler(-0.2);
+  }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    led.RainBowStop();
+    lanceur.Demeler(0);
+    lanceur.Lancer(0);
   }
 
   // Returns true when the command should end.

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

@@ -25,7 +25,7 @@ public class MonterBalyeuse extends Command {
   @Override
   public void execute() {
     if(!balayeuse.GetLimiSwtich()){
-      balayeuse.Pivoter(0.2);
+      balayeuse.Pivoter(0.5);
     }
     else{
       balayeuse.Reset();

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(0.3);
+      grimpeur.GrimperGauche(0.5);
+      grimpeur.GrimperDroit(0.5);
       System.out.println("monte");
     }
     else {
-      grimpeur.Grimper(0);
+      grimpeur.GrimperGauche(0);
+      grimpeur.GrimperDroit(0);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    grimpeur.Grimper(0);
+    grimpeur.GrimperGauche(0);
+    grimpeur.GrimperDroit(0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return Math.abs(grimpeur.Position()) > grimpeur.PositionFinal();
   }
 }

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

@@ -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;

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

@@ -22,11 +22,13 @@ public class Balayeuse extends SubsystemBase {
   SparkMax Pivot = new SparkMax(8, MotorType.kBrushless);
   DigitalInput limit = new DigitalInput(9);
   private GenericEntry EncodeurBalayeuse =
-  teb.add("Position bas balayeuse", 10).getEntry();
+  teb.add("Position bas balayeuse", 1.8).getEntry();
   private GenericEntry AmpBaleyeuse =
   teb.add("Ampérage Baleyeuse", 40).getEntry();
-  public void Balayer(double vitesse){
+  public void BalayerEnbas(double vitesse){
     Balaye1.set(vitesse);
+  }
+  public void BalayerPadle(double vitesse){
     Balaye2.set(vitesse);
   }
   public void Pivoter(double vitesse){
@@ -36,7 +38,7 @@ public class Balayeuse extends SubsystemBase {
     return Pivot.getEncoder().getPosition();
   } 
   public void Reset(){
-    Pivot.getEncoder().setPosition(0);
+    Pivot.getEncoder().setPosition(0.6);
   }
   public boolean GetLimiSwtich(){
     return !limit.get();
@@ -52,7 +54,7 @@ public class Balayeuse extends SubsystemBase {
     timer.start();
   }
   public double EncodeurBalayeuse(){
-    return EncodeurBalayeuse.getDouble(10);
+    return EncodeurBalayeuse.getDouble(1.8);
   }
   /** Creates a new Balayeuse. */
   public Balayeuse() {

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.

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

@@ -5,7 +5,6 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.networktables.GenericEntry;
@@ -18,26 +17,42 @@ public class Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkMax grimpeur1 = new SparkMax(3, MotorType.kBrushless);
   SparkMax grimpeur2 = new SparkMax(12, MotorType.kBrushless);
-  SparkMaxConfig slaveConfig = new SparkMaxConfig();
+
+  // SparkMaxConfig slaveConfig = new SparkMaxConfig();
   DigitalInput limit = new DigitalInput(0);
-    private GenericEntry EncodeurGrimpeur =
+  private GenericEntry EncodeurGrimpeur = teb.add("Position haut grimpeur", 100).getEntry();
-  teb.add("Position haut grimpeur", 105).getEntry();
+
-  public void Grimper(double vitesse){
+  // public void Grimper(double vitesse){
+  // grimpeur1.configure(slaveConfig, ResetMode.kNoResetSafeParameters,
+  // PersistMode.kPersistParameters);
+  // grimpeur2.configure(slaveConfig.follow(grimpeur1),
+  // ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
+  // grimpeur1.set(vitesse);
+  // }
+  public void GrimperGauche(double vitesse) {
     grimpeur1.set(vitesse);
+  }
+
+  public void GrimperDroit(double vitesse) {
     grimpeur2.set(vitesse);
   }
+
   public double Position() {
     return grimpeur1.getEncoder().getPosition();
   }
+
   public void Reset() {
     grimpeur1.getEncoder().setPosition(0);
   }
+
   public boolean Limit() {
     return limit.get();
   }
+
   public double PositionFinal() {
-    return EncodeurGrimpeur.getDouble(105);
+    return EncodeurGrimpeur.getDouble(100);
   }
+
   /** Creates a new Grimpeur. */
   public Grimpeur() {
     teb.addDouble("encodeur grimpeur", this::Position);

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

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

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

@@ -6,6 +6,7 @@ package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -16,13 +17,14 @@ public class Lanceur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkFlex moteur1 = new SparkFlex(15, MotorType.kBrushless);
   SparkFlex moteur2 = new SparkFlex(18, MotorType.kBrushless);
-  SparkFlex Demeleur = new SparkFlex(19, MotorType.kBrushless);
+  SparkMax Demeleur = new SparkMax(19, MotorType.kBrushless);
   GenericEntry vitesse = 
-  teb.add("vitesse lanceur",0.5).getEntry();
+  teb.add("vitesse lanceur",4000).getEntry();
   GenericEntry AmpLanceur = 
   teb.add("ampérage lanceur",30).getEntry();
+  
   public void Lancer(double vitesse){
-    // moteur1.set(-vitesse);
+    moteur1.set(vitesse);
     moteur2.set(vitesse);
   }
   public void Demeler(double vitesse){
@@ -38,11 +40,12 @@ public class Lanceur extends SubsystemBase {
     return AmpLanceur.getDouble(30);
   }
   public double vitesseDemander(){
-    return vitesse.getDouble(0.5);
+    return vitesse.getDouble(4000);
   }
   /** Creates a new Lanceur. */
   public Lanceur() {
     teb.addDouble("amperage lanceur", this::Amp);
+    teb.addDouble("vitesse actuelle",this::Vitesse);
   }
 
   @Override

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

@@ -1,133 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.subsystems;
-
-import com.ctre.phoenix.led.CANdle;
-import com.ctre.phoenix.led.RainbowAnimation;
-
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Led extends SubsystemBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  private GenericEntry equipe = 
-  teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  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 Vert2(){
-    CANDle.setLEDs(0, 255, 0,0,8,8);
-    CANDle.setLEDs(0, 255, 0,0,24,8);
-    CANDle.setLEDs(0, 255, 0,0,40,8);
-    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 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
-  }
-}

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

@@ -12,7 +12,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.LimelightHelpers;
  
 public class LimeLight3 extends SubsystemBase {
-  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
   NetworkTableEntry pipeline = table.getEntry("pipeline");
   /** Creates a new LimeLight3. */
   public LimeLight3() {
@@ -21,34 +21,34 @@ public class LimeLight3 extends SubsystemBase {
     }
   }
   public double[] getBotPoseBlue(){
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    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-balon");
+      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;
     }
     public double getTx(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
       NetworkTableEntry tx = table.getEntry("tx");
       return tx.getDouble(0.0);
     }
     public double getTId(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
       NetworkTableEntry tid = table.getEntry("tid");
       return tid.getDouble(0.0);
     }
     public double getTA(){
-      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
       NetworkTableEntry ta = table.getEntry("ta");
       return ta.getDouble(0.0);
     }
     public boolean getV(){
-      return LimelightHelpers.getTV("limelight-balon");
+      return LimelightHelpers.getTV("limelight-balaie");
     }
     public void AprilTag(){
       pipeline.setNumber(0);

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

@@ -22,13 +22,13 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
   }
   public double[] getBotPoseBlue(){
     NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
-    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-tag");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
     double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
     return BotPose;
     }
@@ -52,13 +52,27 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
     }
     public double Calcule(double x1, double x2, double y1, double y2, double angle)
     {
-      if (x1 > 4)
+      // if(x1 > x2){
-      {
+      //   if(y1 > y2){
-        return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle)/90;
+      //     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
+        else{
-      {
+          return Math.toDegrees(-Math.atan((x2 - x1) / (y2 - y1))) - angle;
-          return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1/90;
         }
     }
   @Override

vendordeps/PathplannerLib-2026.1.2.json

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

vendordeps/Phoenix5-5.36.0.json

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

vendordeps/Phoenix6-26.1.3.json

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

vendordeps/REVLib.json

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

vendordeps/WPILibNewCommands.json

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