Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

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

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;
@@ -42,8 +45,8 @@ import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.LEDSubsystem;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
 import frc.robot.subsystems.LimeLight3;
 import frc.robot.subsystems.Limelight3G;
 
@@ -54,7 +57,7 @@ public class RobotContainer {
   Lanceur lanceur = new Lanceur();
   LimeLight3 limeLight3 = new LimeLight3();
   Limelight3G limeLight3G = new Limelight3G();
-  Led led = new Led();
+  LEDSubsystem ledSubsystem = new LEDSubsystem();
   CommandXboxController manette = new CommandXboxController(0);
   CommandXboxController manette1 = new CommandXboxController(1);
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
@@ -64,15 +67,13 @@ public class RobotContainer {
     private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
             .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
-    private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
-    private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
-
-    private final Telemetry logger = new Telemetry(MaxSpeed);
 
     public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
 
 
   public RobotContainer() {
+    NamedCommands.registerCommand("droite", new BougerDroiteAuto(drivetrain));
+    NamedCommands.registerCommand("gauche", new BougerGaucheAuto(drivetrain));
     NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
     NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
     NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
@@ -94,6 +95,7 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
+    ledSubsystem.setDefaultCommand(ledSubsystem.updateLEDs());
     drivetrain.setDefaultCommand(
           drivetrain.applyRequest(() ->
             drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) 
@@ -126,6 +128,9 @@ 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

@@ -5,33 +5,34 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Led;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class RainBowAnim extends Command {
-  private Led led;
-  /** Creates a new RainBowAnim. */
-  public RainBowAnim(Led led) {
-    this.led = led;
-    addRequirements(led);
+public class Inverser extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  boolean inverse = false;
+  /** Creates a new Inverser. */
+  public Inverser(CommandSwerveDrivetrain drivetrain) {
+    addRequirements(drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    led.RainBow();
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  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) {
-    led.RainBowStop();
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override

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.
@@ -47,7 +48,9 @@ public class Lancer extends Command {
   public void execute() {
     double[] BotPose = new double[6];
     if(limeLight3G.getV()){
-    if(!alliance.isPresent()){return;}
+    if(!alliance.isPresent()){
+      return;
+    }
       if(alliance.get() == Alliance.Blue){
         BotPose = limeLight3G.getBotPoseBlue();
       }
@@ -59,10 +62,11 @@ public class Lancer extends Command {
     vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
   }                                            
     if(limeLight3G.getV()){
-      System.out.println(vitesse);
+      
 
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
+      System.out.println(output);
       if(lanceur.Vitesse() >= vitesse-800){
         timer.start();
         if(timer.get() >1){

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
@@ -51,37 +54,62 @@ public class Limelighter extends Command {
     System.out.println("e");
     if (limelight3g.getV()) {
          BotPose = limelight3g.getBotPoseBlue();
-    
-      botx = BotPose[1];
-      boty = BotPose[0];
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle);
-      if(calcul < -5 && calcul > -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
+       if (!alliance.isPresent()) {
+        return;
       }
-      else if(calcul > 5 && calcul < 180){
-        drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
+      if (alliance.get() == Alliance.Blue) {
+        x = 4.6;
+        BotPose = limelight3g.getBotPoseBlue();
       }
-      else if(calcul >= 180){
-        drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
+       else {
+        x = 11.915394;
+       BotPose = limelight3g.getBotPoseRed();
       }
-      else if(calcul <= -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
-      }
-      else{
+      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.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
-      System.out.println(angle);
-      if (calcul < 0.2 && calcul > -0.2) {
-      drivetrain.setControl(drive.withRotationalRate(0));
+          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));

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 = 5.4;
      x = 1.11;
      angle = 0;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
@@ -76,7 +81,7 @@ public class GrimperMur extends Command {
     }
     }
     else{
-     x = 11.45966;
+     x = 15.6;
      y = 6.959326;
      angle = 180;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){

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;
@@ -31,9 +32,10 @@ public class GrimperReservoir extends Command {
   double x;
   double y;
   double angle;
+  double pigeonAngle;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-    Optional<Alliance> alliance = DriverStation.getAlliance(); 
+    Optional<Alliance> alliance; 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
             .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -47,51 +49,65 @@ 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];
-    System.out.println(drivetrain.getPigeon2().getYaw().getValueAsDouble());
       if(angle < 0){
         angle = angle + 360;
       }
       if(alliance.get() == Alliance.Red){
-     y = 6.959326;
-     x = 13.57966;
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+        System.out.println(pigeonAngle);
+      y = 5.4;
+      x = 15.6;
       angle = 180;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){
-      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
+      if(pigeonAngle< 190 && pigeonAngle> 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*5.5),-2,2)));
       }
       else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
+        if(pigeonAngle>180){
+          drivetrain.setControl(drive.withRotationalRate(-1));
         }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
+        else{
+          drivetrain.setControl(drive.withRotationalRate(1));
         }
       }
       }
       else{
-      y = 5.081328;
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble()+180;
+        System.out.println(pigeonAngle);
+        y = 2.6;
         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));
+        if(pigeonAngle> 358 || pigeonAngle< 2){
+          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)).withRotationalRate(0));
         }
         else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5*180/Math.PI));
+          if(pigeonAngle>0 && pigeonAngle<180){
+            drivetrain.setControl(drive.withRotationalRate(-1));
+            System.out.println("x");
           }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5*180/Math.PI));
+          else if(pigeonAngle>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 +119,6 @@ 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);
-      if(calcul < -5 && calcul > -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
+      if(angle > 180){
+        angle -= 360;
       }
-      else if(calcul > 5 && 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 if(calcul <= -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
-      }
-      else{
+      if(calcul > -5 && calcul < 5){
          drivetrain.setControl(
            drive.withRotationalRate(0));
       }
+      else if(calcul > 5){
         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));
+           drive.withRotationalRate(0.5*(2*Math.PI)));
       }
+      else if(calcul < -5){
+        drivetrain.setControl(
+           drive.withRotationalRate(-0.5*(2*Math.PI)));
+      }
+      // 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
@@ -52,11 +54,16 @@ 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));
+    }
   }
   }
 

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

@@ -55,7 +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(
@@ -254,7 +253,6 @@ 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/LEDSubsystem.java

@@ -0,0 +1,141 @@
+/* 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;
+    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){
+        if(_timer.get() <0.5){
+            if(couleur){
+                Bleu();
+            }
+            else{
+                Rouge();
+            }
+        }
+        else{
+            Noir();
+            _timer.reset();
+        }
+    }
+    public LEDSubsystem() {
+        setDefaultCommand(updateLEDs());
+        _timer = new Timer();
+        _timer.reset();
+        _timer.start();
+    }
+    public boolean Equipe(){
+        return equipe.getBoolean(false);
+    }
+    /**
+     * Updates the animations and LEDs of the CANdle.
+     *
+     * @return Command to run
+     */
+    public Command updateLEDs() {
+        double temps = DriverStation.getMatchTime();
+        return run(() -> {
+            if(Equipe()){
+                if(temps > 110){
+                    Vert();
+                }
+                else if(temps > 88){
+                    
+                    Bleu();
+                }
+                else if(temps > 85){
+                    Flash(true);
+                }
+                else if(temps > 63){
+                    Rouge();
+                }
+                else if(temps  > 60){
+                    Flash(false);
+                }
+                else if(temps > 33){
+                    Bleu();
+                }
+                else if(temps  > 30){
+                    Flash(true);
+                }
+                else if(temps > 13){
+                    Rouge();
+                }
+                else if(temps > 10){
+                    Flash(false);
+                }
+                else if(temps < 10){
+                    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();
+                }
+            }
+        });
+    }
+}
+

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

@@ -1,145 +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();
-  @SuppressWarnings("removal")
-  CANdle CANDle = new CANdle(17);
-  @SuppressWarnings("removal")
-  RainbowAnimation rainbowAnim = new RainbowAnimation();
-    @SuppressWarnings("removal")
-    public void bleu(){
-    CANDle.setLEDs(0, 0, 255,0,0,8);
-    CANDle.setLEDs(0, 0, 255,0,16,8);
-    CANDle.setLEDs(0, 0, 255,0,32,8);
-    // CANDle.setLEDs(0, 0, 255,0,56,8);
-    // CANDle.setLEDs(0, 0, 255,0,72,8);
-    // 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);
-    
-  }
-  @SuppressWarnings("removal")
-  public void Vert1(){
-    CANDle.setLEDs(0, 255, 0,0,0,8);
-    CANDle.setLEDs(0, 255, 0,0,16,8);
-    CANDle.setLEDs(0, 255, 0,0,32,8);
-    // CANDle.setLEDs(0, 255, 0,0,56,8);
-    // CANDle.setLEDs(0, 255, 0,0,72,8);
-    // 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);
-  }
-  @SuppressWarnings("removal")
-  public void Rouge(){
-    CANDle.setLEDs(255, 0, 0,0,0,8);
-    CANDle.setLEDs(255, 0, 0,0,16,8);
-    CANDle.setLEDs(255, 0, 0,0,32,8);
-    // CANDle.setLEDs(255, 0, 0,0,48,8);
-    // CANDle.setLEDs(255, 0, 0,0,64,8);
-    // 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);
-  }
-  @SuppressWarnings("removal")
-  public void Jaune2(){
-    CANDle.setLEDs(255, 255, 0,0,8,8);
-    CANDle.setLEDs(255, 255, 0,0,24,8);
-    CANDle.setLEDs(255, 255, 0,0,40,8);
-    // CANDle.setLEDs(255, 255, 0,0,56,8);
-    // CANDle.setLEDs(255, 255, 0,0,72,8);
-    // 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);
-  }
-  @SuppressWarnings("removal")
-  public void Rouge2(){
-    CANDle.setLEDs(255, 0, 0,0,8,8);
-    CANDle.setLEDs(255, 0, 0,0,24,8);
-    CANDle.setLEDs(255, 0, 0,0,40,8);
-    // CANDle.setLEDs(255, 0, 0,0,56,8);
-    // CANDle.setLEDs(255, 0, 0,0,72,8);
-    // CANDle.setLEDs(255, 0, 0,0,88,8);
-    // CANDle.setLEDs(255, 0, 0,0,104,8);
-    // CANDle.setLEDs(255, 0, 0,0,120,8);
-    // CANDle.setLEDs(255, 0, 0,0,136,8);
-  }
-  @SuppressWarnings("removal")
-  public void RainBow(){
-    CANDle.animate(rainbowAnim);
-  }
-  @SuppressWarnings("removal")
-  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/Limelight3G.java

@@ -52,21 +52,27 @@ 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){
+      //     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(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
+          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
         }
         else{
-          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+90 - angle;
-        }
-      }
-      else{
-        if(y1 > y2){
-          return Math.atan(90-((x2 - x1) / (y2 - y1)))* (180 / Math.PI)+270 - angle;
-        }
-        else{
-          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+180 - angle;
-        }
+          return -Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
         }
     }
   @Override