inverser

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

@@ -0,0 +1,99 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "DescendreBalayeuse"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Depot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Tir"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Lancer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "GrimperReservoir"
+          }
+        },
+        {
+          "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/autos/DepotTirerMur.auto

@@ -14,6 +14,12 @@
           "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -72,9 +78,9 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "MonterMur"
+            "name": "droite"
           }
         },
         {

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

@@ -14,6 +14,12 @@
           "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
               {
                 "type": "path",
                 "data": {
@@ -72,9 +78,9 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "MonterReservoir"
+            "name": "gauche"
           }
         },
         {

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/java/frc/robot/RobotContainer.java

@@ -20,6 +20,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
+import frc.robot.commands.Inverser;
 import frc.robot.commands.Lancer;
 import frc.robot.commands.LancerAspirer;
 import frc.robot.commands.LancerBaseVitesse;
@@ -30,6 +31,8 @@ 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;
@@ -73,6 +76,8 @@ public class RobotContainer {
 
 
   public RobotContainer() {
+    NamedCommands.registerCommand("droite", new BougerDroiteAuto(drivetrain));
+    NamedCommands.registerCommand("gauche", new BougerGaucheAuto(drivetrain));
     NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
     NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
     NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
@@ -126,6 +131,9 @@ public class RobotContainer {
     manette1.b().whileTrue(new ModeOposer(lanceur));
     manette1.a().whileTrue(new ModeOposerDemeleur(lanceur));
     manette1.y().whileTrue(new ModeOposerBalayeuse(balayeuse));
+    manette1.povRight().whileTrue(new BougerDroiteAuto(drivetrain));
+    manette1.povLeft().whileTrue(new BougerGaucheAuto(drivetrain));
+    manette1.start().whileTrue(new Inverser(drivetrain));
   }
 
   public Command getAutonomousCommand() {

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

@@ -0,0 +1,42 @@
+// 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) {
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(!inverse){
+      drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+      inverse = true;
+    }
+  }
+
+  // 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

@@ -40,6 +40,7 @@ public class Lancer extends Command {
     if(limeLight3G.getV()){}
     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.

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

@@ -27,6 +27,7 @@ public class Limelighter extends Command {
   double boty;
   double angle;
   double calcul;
+  double x;
    Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
@@ -42,7 +43,9 @@ 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
@@ -50,38 +53,62 @@ public class Limelighter extends Command {
     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();
-    
+      }
-      botx = BotPose[1];
+       else {
-      boty = BotPose[0];
+        x = 11.915394;
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+       BotPose = limelight3g.getBotPoseRed();
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle);
+      }
-      if(calcul < -5 && calcul > -180){
+      botx = BotPose[0];
+      boty = BotPose[1];
+      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(0.5*180/Math.PI));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
-      else if(calcul > 5 && calcul < 180){
+      else if(calcul < -5){
-        drivetrain.setControl(
+        drivetrain.setControl(drive.withRotationalRate(-0.5*(2*Math.PI)));
-          drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-      else if(calcul >= 180){
-        drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-      else if(calcul <= -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/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));
       }
+      // 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));

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

@@ -0,0 +1,80 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.ModeAuto;
+
+import static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BougerDroiteAuto extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Timer timer = new Timer();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvanceAuto. */
+  public BougerDroiteAuto(CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(alliance.get() == Alliance.Blue){
+      if(timer.get() < .75){
+        System.out.println("8765");
+        drivetrain.setControl(drive.withVelocityY(-1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+    }
+    else{
+      if(timer.get() < 0.75){
+        drivetrain.setControl(drive.withVelocityY(1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 1;
+  }
+}

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

@@ -0,0 +1,79 @@
+// 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 static edu.wpi.first.units.Units.*;
+
+import java.util.Optional;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BougerGaucheAuto extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  Timer timer = new Timer();
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+  Optional<Alliance> alliance;
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
+  /** Creates a new AvanceAuto. */
+  public BougerGaucheAuto(CommandSwerveDrivetrain drivetrain) {
+        this.drivetrain = drivetrain;
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(alliance.get() == Alliance.Blue){
+      if(timer.get() < 0.75){
+        drivetrain.setControl(drive.withVelocityY(1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+    }
+    else{
+      if(timer.get() < 0.75){
+        drivetrain.setControl(drive.withVelocityY(-1.5));
+      }
+      else{
+        drivetrain.setControl(drive.withVelocityY(0));
+      }
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityY(0));
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() > 1;
+  }
+}

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

@@ -47,7 +47,12 @@ 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
@@ -60,7 +65,7 @@ public class GrimperMur extends Command {
       angle = angle + 360;
     }
     if(alliance.get() == Alliance.Blue){
-     y = 2.961328;
+     y = 5;
      x = 1.11;
      angle = 0;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){

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

@@ -14,6 +14,7 @@ import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -47,51 +48,63 @@ public class GrimperReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    // alliance = DriverStation.getAlliance();
+    // if(drivetrain.Equipe()){
+    //   drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+    // }
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    BotPose = limeLight3G.getBotPoseBlue();
+    if(limeLight3G.getV()){
-    botx = BotPose[0];
-    boty = BotPose[1];
-    System.out.println(drivetrain.getPigeon2().getYaw().getValueAsDouble());
-    if(angle < 0){
-      angle = angle + 360;
-    }
-    if(alliance.get() == Alliance.Red){
-     y = 6.959326;
-     x = 13.57966;
-     angle = 180;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-    }
-    }
-    else{
-      y = 5.081328;
-     x = 1.11;
-     angle = 0;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
-      }
-    }
-    }
 
+      BotPose = limeLight3G.getBotPoseBlue();
+      botx = BotPose[0];
+      boty = BotPose[1];
+      System.out.println(drivetrain.getPigeon2().getYaw().getValueAsDouble());
+      if(angle < 0){
+        angle = angle + 360;
+      }
+      if(alliance.get() == Alliance.Red){
+      y = 6.959326;
+      x = 13.57966;
+      angle = 180;
+      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5),-2,2)));
+      }
+      else{
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+          drivetrain.setControl(drive.withRotationalRate(1));
+        }
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
+        }
+      }
+      }
+      else{
+        y = 2.6;
+      x = 1.11;
+      angle = 0;
+      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 358 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 2){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)).withRotationalRate(0));
+      }
+      else{
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
+          System.out.println("x");
+        }
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
+          System.out.println("e");
+          drivetrain.setControl(drive.withRotationalRate(1));
+        }
+      }
+      }
+    }
+    else{
+      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
+    }
   }
 
   // Called once the command ends or is interrupted.
@@ -103,6 +116,6 @@ public class GrimperReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
+    return (y-boty < 0.1 && y-boty >-0.1) && (x-botx < 0.1 && x-botx > -0.1);
   }
 }

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

@@ -38,6 +38,7 @@ public class LancerAuto extends Command {
   public void initialize() {
     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.

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

@@ -27,6 +27,7 @@ public class LimelighterAuto extends Command {
   double boty;
   double angle;
   double calcul;
+  double x;
    Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
@@ -42,7 +43,9 @@ public class LimelighterAuto extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -50,38 +53,63 @@ public class LimelighterAuto extends Command {
     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;
+       BotPose = limelight3g.getBotPoseRed();
+      }
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle);
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      if(calcul < -5 && calcul > -180){
+      if(angle > 180){
+        angle -= 360;
+      }
+      if(calcul > -5 && calcul < 5){
+         drivetrain.setControl(
+           drive.withRotationalRate(0));
+      }
+      else if(calcul > 5){
         drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
+           drive.withRotationalRate(0.5*(2*Math.PI)));
       }
-      else if(calcul > 5 && calcul < 180){
+      else if(calcul < -5){
         drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
+           drive.withRotationalRate(-0.5*(2*Math.PI)));
-      }
-      else if(calcul >= 180){
-        drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
-      }
-      else if(calcul <= -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/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));
       }
+      // 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 >= 180){
+      //   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));
@@ -98,7 +126,6 @@ public class LimelighterAuto extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return calcul < 5 && calcul > -5;
+    return calcul > -5 && calcul < 5;
   }
 }
-

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

@@ -37,7 +37,9 @@ public class TournerVersMur extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -37,7 +37,9 @@ public class TournerVersReservoir extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    alliance = DriverStation.getAlliance();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -52,13 +54,18 @@ public class TournerVersReservoir extends Command {
       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*180/Math.PI));
+      drivetrain.setControl(drive.withRotationalRate(-force*2));
     }
     else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
+      drivetrain.setControl(drive.withRotationalRate(force*2));
     }
   }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
@@ -67,6 +74,6 @@ public class TournerVersReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
   }
 }

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

@@ -42,6 +42,6 @@ public class MonterGrimpeur extends Command {
   // 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/subsystems/CommandSwerveDrivetrain.java

@@ -22,10 +22,14 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.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.Subsystem;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
@@ -54,8 +58,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     /* Swerve requests to apply during SysId characterization */
     private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
     private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
+    ShuffleboardTab teb = Shuffleboard.getTab("teb");
     private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-
+    private GenericEntry equipe = 
+    teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();  
     /* 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(
@@ -221,7 +227,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         }
         configureAutoBuilder();
     }
-
+    public boolean Equipe(){
+        return equipe.getBoolean(false);
+    }
     /**
      * Returns a command that applies the specified control request to this swerve drivetrain.
      *
@@ -254,7 +262,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         else if(getPigeon2().getYaw().getValueAsDouble() < 0){
             getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
          }
-        
         /*
          * Periodically try to apply the operator perspective.
          * If we haven't applied the operator perspective before, then we should apply it regardless of DS state.

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

@@ -16,8 +16,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Led extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  private GenericEntry equipe = 
-  teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   @SuppressWarnings("removal")
   CANdle CANDle = new CANdle(17);
   @SuppressWarnings("removal")
@@ -91,9 +89,6 @@ public class Led extends SubsystemBase {
   public void RainBowStop(){
     CANDle.animate(null);
   }
-  public boolean Equipe(){
-    return equipe.getBoolean(true);
-  }
   /** Creates a new Led. */
   public Led() {}
 
@@ -104,7 +99,7 @@ public class Led extends SubsystemBase {
     if(temps > 20 && temps < 30){
       Vert1();
     }
-    if(Equipe()){
+    // if(Equipe()){
       if(temps > 30 && temps < 55){
         bleu();
       }
@@ -120,8 +115,8 @@ public class Led extends SubsystemBase {
       else{
         RainBow();
       }
-    }
+    // }
-    else{
+    // else{
       if(temps > 30 && temps < 55){
         Rouge();
       }
@@ -140,6 +135,6 @@ public class Led extends SubsystemBase {
     }
     // This method will be called once per scheduler run
     
-  }
+  // }
     
 }

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

@@ -52,22 +52,28 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
     }
     public double Calcule(double x1, double x2, double y1, double y2, double angle)
     {
-      if(x1 > x2){
+      // if(x1 > x2){
-        if(y1 > y2){
+      //   if(y1 > y2){
-          return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
+      //     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.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
         }
         else{
-          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+90 - angle;
+          return -Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
         }
-      }
-      else{
-        if(y1 > y2){
-          return Math.atan(90-((x2 - x1) / (y2 - y1)))* (180 / Math.PI)+270 - angle;
-        }
-        else{
-          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+180 - angle;
-        }
-      }
     }
   @Override
   public void periodic() {