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

build.gradle

@@ -33,7 +33,7 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
-                    deleteOldFiles = true // Change to true to delete files on roboRIO that no
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
                                            // longer exist in deploy directory of this project
                 }
             }

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": {
@@ -42,15 +48,22 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Lancer"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "TournerA180"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Lancer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
           }
         },
         {
@@ -72,9 +85,9 @@
           }
         },
         {
-          "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": {
@@ -42,15 +48,22 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Lancer"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "TournerAZero"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Lancer"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Aspirer"
+                }
+              }
+            ]
           }
         },
         {
@@ -72,9 +85,9 @@
           }
         },
         {
-          "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/Commandes.java

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

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

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

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

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

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

@@ -1,74 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-import edu.wpi.first.net.PortForwarder;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableInstance;
-
-public class Limelight3G {
-  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
-  NetworkTableEntry pipeline = table.getEntry("pipeline");
-
-  /** Creates a new LimeLight3. */
-  public Limelight3G() {
-    for (int port = 5800; port <= 5807; port++) {
-      PortForwarder.add(port, "limelight.local", port);
-    }
-  }
-
-  public double[] getBotPoseBlue() {
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
-    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
-    return BotPose;
-  }
-
-  public double[] getBotPoseRed() {
-    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
-    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
-    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
-    return BotPose;
-  }
-
-  public double getTx() {
-    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
-    NetworkTableEntry tx = table.getEntry("tx");
-    return tx.getDouble(0.0);
-  }
-
-  public double getTId() {
-    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
-    NetworkTableEntry tid = table.getEntry("tid");
-    return tid.getDouble(0.0);
-  }
-
-  public double getTA() {
-    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
-    NetworkTableEntry ta = table.getEntry("ta");
-    return ta.getDouble(0.0);
-  }
-
-  public boolean getV() {
-    return LimelightHelpers.getTV("limelight-tag");
-  }
-
-  public double Calcule(double x1, double x2, double y1, double y2, double angle) {
-    if (x1 > x2) {
-      if (y1 > y2) {
-        return Math.atan(90 - ((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
-      } else {
-        return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) + 90 - angle;
-      }
-    } else {
-      if (y1 > y2) {
-        return Math.atan(90 - ((x2 - x1) / (y2 - y1))) * (180 / Math.PI) + 270 - angle;
-      } else {
-        return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) + 180 - angle;
-      }
-    }
-  }
-}

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

@@ -4,7 +4,6 @@
 
 package frc.robot;
 
-import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -28,28 +27,19 @@ public class Robot extends TimedRobot {
 
     LimelightHelpers.SetRobotOrientation("limelight_tag", headingDeg, 0, 0, 0, 0, 0);
     var llMeasurement = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2("limelight_tag");
-    var stdDevs = LimelightHelpers.getLimelightDoubleArrayEntry("limelight_tag", "stddevs");
-    var limelightStdDevs = VecBuilder.fill(.5, .5, 9999999);
-    if (stdDevs.exists()) {
-      limelightStdDevs = VecBuilder.fill(stdDevs.get()[6], stdDevs.get()[7], stdDevs.get()[12]);
-    }
     if (llMeasurement != null && llMeasurement.tagCount > 0 && Math.abs(omegaRps) < 2.0) {
-      m_robotContainer.drivetrain.addVisionMeasurement(llMeasurement.pose, llMeasurement.timestampSeconds,
-          limelightStdDevs);
+        m_robotContainer.drivetrain.addVisionMeasurement(llMeasurement.pose, llMeasurement.timestampSeconds);
     }
   }
 
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
   @Override
-  public void disabledExit() {
-  }
+  public void disabledExit() {}
 
   @Override
   public void autonomousInit() {
@@ -61,12 +51,10 @@ public class Robot extends TimedRobot {
   }
 
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
-  public void autonomousExit() {
-  }
+  public void autonomousExit() {}
 
   @Override
   public void teleopInit() {
@@ -76,12 +64,10 @@ public class Robot extends TimedRobot {
   }
 
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
-  public void teleopExit() {
-  }
+  public void teleopExit() {}
 
   @Override
   public void testInit() {
@@ -89,10 +75,8 @@ public class Robot extends TimedRobot {
   }
 
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 
   @Override
-  public void testExit() {
-  }
+  public void testExit() {}
 }

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

@@ -4,9 +4,7 @@
 
 package frc.robot;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static edu.wpi.first.units.Units.*;
 
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
@@ -14,11 +12,31 @@ import com.pathplanner.lib.auto.AutoBuilder;
 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 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;
+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.TournerVersMur;
@@ -26,89 +44,93 @@ import frc.robot.commands.ModeAuto.TournerVersReservoir;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
-import frc.robot.subsystems.Demeleur;
 import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.LEDSubsystem;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
-import frc.robot.subsystems.PivotBalayeuse;
+import frc.robot.subsystems.LimeLight3;
+import frc.robot.subsystems.Limelight3G;
 
 public class RobotContainer {
   private final SendableChooser<Command> autoChooser;
-  public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-  private final Balayeuse balayeuse = new Balayeuse();
-  private final PivotBalayeuse pivotBalayeuse = new PivotBalayeuse();
-  private final Demeleur demeleur = new Demeleur();
-  private final Grimpeur grimpeur = new Grimpeur();
-  private final Lanceur lanceur = new Lanceur();
-  private final Commandes commandes = new Commandes(drivetrain, lanceur, demeleur, balayeuse, grimpeur, pivotBalayeuse);
-  private final LimeLight3 limeLight3 = new LimeLight3();
-  private final Limelight3G limeLight3G = new Limelight3G();
-  private final Led led = new Led();
-  private final CommandXboxController manette = new CommandXboxController(0);
-  private final CommandXboxController manette1 = new CommandXboxController(1);
+  Balayeuse balayeuse = new Balayeuse();
+  Grimpeur grimpeur = new Grimpeur();
+  Lanceur lanceur = new Lanceur();
+  LimeLight3 limeLight3 = new LimeLight3();
+  Limelight3G limeLight3G = new Limelight3G();
+  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
-  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max
-                                                                                    // angular velocity
+    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
+    /* 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
+
+    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
 
-  private final Telemetry logger = new Telemetry(MaxSpeed);
 
   public RobotContainer() {
-    NamedCommands.registerCommand("GrimperMur", drivetrain.allerGrimpeMur());
-    NamedCommands.registerCommand("GrimperReservoir", drivetrain.allerGrimpeDepot());
-    NamedCommands.registerCommand("Lancer", commandes.lancer());
-    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain, limeLight3G));
+    NamedCommands.registerCommand("droite", new BougerDroiteAuto(drivetrain));
+    NamedCommands.registerCommand("gauche", new BougerGaucheAuto(drivetrain));
+    NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
+    NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
+    NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
+    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain,limeLight3G));
     NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche(drivetrain, limeLight3G));
-    NamedCommands.registerCommand("Limelighter", commandes.viserLancer());
-    NamedCommands.registerCommand("DescendreBalayeuse", pivotBalayeuse.descendre());
-    NamedCommands.registerCommand("Aspirer", balayeuse.aspirer());
+    NamedCommands.registerCommand("Limelighter", new LimelighterAuto(limeLight3G,drivetrain));
+    NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
+    NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
     NamedCommands.registerCommand("TournerA180", new TournerVersReservoir(drivetrain));
     NamedCommands.registerCommand("TournerAZero", new TournerVersMur(drivetrain));
-    NamedCommands.registerCommand("MonterGrimpeur", grimpeur.sortir());
-    NamedCommands.registerCommand("DescendreGrimpeur", grimpeur.rentrer());
+    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() {
-
-    // Manette 0 (pilote)
+    ledSubsystem.setDefaultCommand(ledSubsystem.updateLEDs());
     drivetrain.setDefaultCommand(
-        drivetrain.applyRequest(() -> drive
-            .withVelocityY(-manette.getLeftX() * MaxSpeed * 0.7)
-            .withVelocityX(-manette.getLeftY() * MaxSpeed * 0.7)
-            .withRotationalRate(-manette.getRightX() * MaxAngularRate)));
-    manette.rightBumper().whileTrue(balayeuse.aspirer());
-    manette.povUp().whileTrue(grimpeur.sortir());
-    manette.povDown().whileTrue(grimpeur.rentrer());
+          drivetrain.applyRequest(() ->
+            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) 
+              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed*0.7, 0.05)) 
+             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate*1.5, 0.05))
+        )
+      );
+    //manette 1
+    // manette1.povUp().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
+    // manette1.povDown().whileTrue(drivetrain.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
+    // manette1.povRight().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kForward));
+    // manette1.povLeft().whileTrue(drivetrain.sysIdDynamic(SysIdRoutine.Direction.kReverse));
+    
+    manette.povUp().whileTrue(new MonterGrimpeur(grimpeur));
+    manette.povDown().whileTrue(new DescendreGrimpeur(grimpeur));
+    manette.rightTrigger().whileTrue(new Lancer(lanceur, limeLight3G));
+    manette.leftTrigger().whileTrue(new Limelighter(limeLight3G, drivetrain));
+    manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
+    manette.rightBumper().whileTrue(new Aspirer(balayeuse));
+    manette.b().whileTrue(new GrimperReservoir(limeLight3G, drivetrain));
+    manette.x().whileTrue(new GrimperMur(limeLight3, drivetrain));
 
-    manette.rightTrigger().whileTrue(commandes.lancer());
-    manette.leftTrigger().whileTrue(
-        commandes.viserLancer(() -> -manette.getLeftY() * MaxSpeed * 0.7, () -> -manette.getLeftX() * MaxSpeed * 0.7));
-    manette.leftBumper().whileTrue(pivotBalayeuse.descendre());
-    manette.b().whileTrue(drivetrain.allerGrimpeDepot());
-    manette.x().whileTrue(drivetrain.allerGrimpeMur());
 
-    // Manette 1 (co-pilote)
-    manette1.rightTrigger().whileTrue(balayeuse.aspirer());
-
-    manette1.rightBumper().whileTrue(pivotBalayeuse.monter());
-    manette1.leftTrigger().whileTrue(commandes.lancer(() -> lanceur.ntBasseVitesse()));
-    manette1.leftBumper().whileTrue(pivotBalayeuse.descendre());
-    manette1.x().whileTrue(commandes.lancerAspirer());
-    manette1.b().whileTrue(Commands.parallel(lanceur.inverse(), demeleur.inverse()));
-    manette1.a().whileTrue(demeleur.inverse());
-    manette1.y().whileTrue(balayeuse.ejecter());
-
-    drivetrain.registerTelemetry(logger::telemeterize);
+    //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.start().whileTrue(new Inverser(drivetrain));
   }
 
   public Command getAutonomousCommand() {

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

@@ -0,0 +1,44 @@
+// 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 Aspirer extends Command {
+  private Balayeuse balayeuse;
+  /** Creates a new Aspirer. */
+  public Aspirer(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/DescendreBalyeuse.java

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class DescendreBalyeuse extends Command {
+  private Balayeuse balayeuse;
+  /** Creates a new Descendre. */
+  public DescendreBalyeuse(Balayeuse balayeuse) {
+    this.balayeuse = balayeuse;
+    addRequirements(balayeuse);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(Math.abs(balayeuse.Distance()) < balayeuse.EncodeurBalayeuse()){
+      balayeuse.Pivoter(-0.5);
+    }
+    else{
+      balayeuse.Pivoter(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.Pivoter(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return Math.abs(balayeuse.Distance()) > balayeuse.EncodeurBalayeuse();
+  }
+}

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

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class DescendreGrimpeur extends Command {
+  private Grimpeur grimpeur;  
+  /** Creates a new DescendreGrimpeur. */
+  public DescendreGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(!grimpeur.Limit()){
+      grimpeur.Grimper(-0.4);
+    }
+    else{
+      grimpeur.Reset();
+      grimpeur.Grimper(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.Grimper(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/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

@@ -0,0 +1,94 @@
+// 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 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 Lancer extends Command {
+  private Lanceur lanceur;
+  private PIDController pidController;
+  private Limelight3G limeLight3G;
+  private Timer timer;
+      double vitesse = 0.5;
+          double botx = 0;
+    double boty = 0;
+      Optional<Alliance> alliance = DriverStation.getAlliance(); 
+
+  /** Creates a new Lancer. */
+  public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
+    this.lanceur = lanceur;
+    this.timer = new Timer();
+    this.limeLight3G = limeLight3G;
+    addRequirements(lanceur, limeLight3G);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    if(limeLight3G.getV()){}
+    pidController = new PIDController(0.0007, 0,0, 0.001);
+    timer.reset();
+    alliance = DriverStation.getAlliance();  
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double[] BotPose = new double[6];
+    if(limeLight3G.getV()){
+    if(!alliance.isPresent()){
+      return;
+    }
+      if(alliance.get() == Alliance.Blue){
+        BotPose = limeLight3G.getBotPoseBlue();
+      }
+      else{
+        BotPose = limeLight3G.getBotPoseRed();
+      } 
+      botx = BotPose[0];
+      boty = BotPose[1];
+    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()){
+      
+
+      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){
+          lanceur.Demeler(1);
+        }
+
+    }
+  }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Demeler(0);
+    lanceur.Lancer(0);
+    timer.reset();
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,63 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Lanceur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class LancerBaseVitesse extends Command {
+  private Lanceur lanceur;
+  private PIDController pidController;
+  private Timer timer;
+  double tempsDebut = 0;
+  /** Creates a new Lancer. */
+  public LancerBaseVitesse(Lanceur lanceur) {
+    this.lanceur = lanceur;
+   this.timer = new Timer();
+    addRequirements(lanceur);
+    //this.temp = 0;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    pidController = new PIDController(0.0007, 0,0, 0.001);
+    timer.reset();
+    timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    System.out.println(DriverStation.getMatchTime());
+      double vitesse = lanceur.vitesseDemander();
+      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
+      lanceur.Lancer(output);
+      if(timer.get() > 1){
+        lanceur.Demeler(1);
+       }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Demeler(0);
+    lanceur.Lancer(0);
+    timer.reset();
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,132 @@
+// 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 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 Limelighter 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 Limelighter(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 false;
+  }
+}

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

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

@@ -0,0 +1,125 @@
+// 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.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 {
+  LimeLight3 limeLight3;
+  CommandSwerveDrivetrain drivetrain;
+  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);
+  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 GrimperMur. */
+  public GrimperMur(LimeLight3 limeLight3, CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    this.limeLight3 = limeLight3;
+    addRequirements(limeLight3,drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  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(angle < 0){
+        angle = angle + 360;
+      }
+      if(alliance.get() == Alliance.Red){
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+        System.out.println(pigeonAngle);
+      y = 2.6;
+      x = 15.6;
+      angle = 180;
+      if(pigeonAngle< 190 && pigeonAngle> 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*6.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*6.5),-2,2)));
+      }
+      else{
+        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 = 5.2;
+        x = 1.11;
+        angle = 0;
+        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(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));
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
+  }
+
+  // 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);
+  }
+}

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

@@ -0,0 +1,124 @@
+// 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.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.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 GrimperReservoir extends Command {
+  Limelight3G limeLight3G;
+  CommandSwerveDrivetrain drivetrain;
+  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);
+    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 GrimperMur. */
+  public GrimperReservoir(Limelight3G limeLight3G, CommandSwerveDrivetrain drivetrain) {
+    this.drivetrain = drivetrain;
+    this.limeLight3G = limeLight3G;
+    addRequirements(limeLight3G,drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  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(angle < 0){
+        angle = angle + 360;
+      }
+      if(alliance.get() == Alliance.Red){
+        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
+        System.out.println(pigeonAngle);
+      y = 5.2;
+      x = 15.6;
+      angle = 180;
+      if(pigeonAngle< 190 && pigeonAngle> 170){
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*6.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*6.5),-2,2)));
+      }
+      else{
+        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)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-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));
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    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

@@ -0,0 +1,93 @@
+// 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 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, Limelight3G limelight3g) {
+    this.lanceur = 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() {
+    pidController = new PIDController(0.0007, 0, 0, 0.001);
+    timer.reset();
+    alliance = DriverStation.getAlliance();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double[] BotPose = new double[6];
+    if (limelight3g.getV()) {
+      if (!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(1);
+        }
+      }
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Lancer(0);
+    lanceur.Demeler(0);
+    timer.reset();
+    timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    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

@@ -15,9 +15,9 @@ import com.ctre.phoenix6.swerve.SwerveRequest;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Limelight3G;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
+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 {
@@ -38,7 +38,7 @@ public class RetourMilieuDroite extends Command {
   public RetourMilieuDroite(CommandSwerveDrivetrain drivetrain, Limelight3G limelight3g) {
     this.drivetrain = drivetrain;
     this.limelight3g = limelight3g;
-    addRequirements(drivetrain);
+    addRequirements(drivetrain, limelight3g);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

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

@@ -15,9 +15,9 @@ import com.ctre.phoenix6.swerve.SwerveRequest;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Limelight3G;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
+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 {
@@ -38,7 +38,7 @@ public class RetourMilieuGauche extends Command {
   public RetourMilieuGauche(CommandSwerveDrivetrain drivetrain, Limelight3G limelight3g) {
     this.drivetrain = drivetrain;
     this.limelight3g = limelight3g;
-    addRequirements(drivetrain);
+    addRequirements(drivetrain, limelight3g);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

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/ModeOposer.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.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;
+  /** Creates a new Lancer. */
+  public ModeOposer(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {  
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    lanceur.Lancer(-0.2);
+    lanceur.Demeler(-0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Demeler(0);
+    lanceur.Lancer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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 {
-  private Led led;
-  /** Creates a new RainBowAnim. */
-  public RainBowAnim(Led led) {
-    this.led = led;
-    addRequirements(led);
+public class ModeOposerDemeleur extends Command {
+  private Lanceur lanceur;
+  /** Creates a new Lancer. */
+  public ModeOposerDemeleur(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
     // 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() {
+    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

@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Balayeuse;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class MonterBalyeuse extends Command {
+  private Balayeuse balayeuse;
+  /** Creates a new MonterBalyeuse. */
+  public MonterBalyeuse(Balayeuse balayeuse) {
+    this.balayeuse = balayeuse;
+    addRequirements(balayeuse);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(!balayeuse.GetLimiSwtich()){
+      balayeuse.Pivoter(0.5);
+    }
+    else{
+      balayeuse.Reset();
+      balayeuse.Pivoter(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+      balayeuse.Pivoter(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class MonterGrimpeur extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new MonterGrimpeur. */
+  public MonterGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+    if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){
+      grimpeur.Grimper(0.5);
+      System.out.println("monte");
+    }
+    else {
+      grimpeur.Grimper(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.Grimper(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return Math.abs(grimpeur.Position()) > grimpeur.PositionFinal();
+  }
+}

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

@@ -5,42 +5,61 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Balayeuse extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkFlex moteurBas = new SparkFlex(2, MotorType.kBrushless);
-  SparkFlex moteurHaut = new SparkFlex(20, MotorType.kBrushless);
-
-  private final double vitesseMoteurBas = -0.5;
-  private final double vitesseMoteurHaut = -0.2;
-
-  public Command balaye(double vitesseBas, double vitesseHaut) {
-    return startEnd(
-        () -> {
-          moteurBas.set(vitesseBas);
-          moteurHaut.set(vitesseHaut);
-        }, () -> {
-          moteurBas.set(0);
-          moteurHaut.set(0);
-        });
+  SparkFlex Balaye1 = new SparkFlex(2, MotorType.kBrushless);
+  SparkFlex Balaye2 = new SparkFlex(20, MotorType.kBrushless);
+  SparkMax Pivot = new SparkMax(8, MotorType.kBrushless);
+  DigitalInput limit = new DigitalInput(9);
+  private GenericEntry EncodeurBalayeuse =
+  teb.add("Position bas balayeuse", 1.8).getEntry();
+  private GenericEntry AmpBaleyeuse =
+  teb.add("Ampérage Baleyeuse", 40).getEntry();
+  public void BalayerEnbas(double vitesse){
+    Balaye1.set(vitesse);
   }
-
-  public Command aspirer() {
-    return balaye(vitesseMoteurBas, vitesseMoteurHaut);
+  public void BalayerPadle(double vitesse){
+    Balaye2.set(vitesse);
   }
-
-  public Command ejecter() {
-    return balaye(-vitesseMoteurBas, -vitesseMoteurHaut);
+  public void Pivoter(double vitesse){
+    Pivot.set(vitesse);
+  }
+  public double Distance(){
+    return Pivot.getEncoder().getPosition();
+  } 
+  public void Reset(){
+    Pivot.getEncoder().setPosition(0.6);
+  }
+  public boolean GetLimiSwtich(){
+    return !limit.get();
+  }
+  public double Amp(){
+    return Balaye2.getOutputCurrent();
+  }
+  public double AmpMax(){
+    return AmpBaleyeuse.getDouble(40);
+  }
+  public void Temps(){
+    Timer timer = new Timer();
+    timer.start();
+  }
+  public double EncodeurBalayeuse(){
+    return EncodeurBalayeuse.getDouble(1.8);
   }
-
   /** Creates a new Balayeuse. */
   public Balayeuse() {
+    teb.addBoolean("limit balayeuse", this::GetLimiSwtich);
+    teb.addDouble("encodeur balayeuse", this::Distance);
   }
 
   @Override

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

@@ -1,8 +1,6 @@
 package frc.robot.subsystems;
 
-import static edu.wpi.first.units.Units.Degrees;
-import static edu.wpi.first.units.Units.Second;
-import static edu.wpi.first.units.Units.Volts;
+import static edu.wpi.first.units.Units.*;
 
 import java.util.Optional;
 import java.util.function.Supplier;
@@ -11,10 +9,8 @@ import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
-import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-import com.ctre.phoenix6.swerve.SwerveRequest.FieldCentricFacingAngle;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
@@ -23,7 +19,6 @@ import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
@@ -34,7 +29,7 @@ import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
-import frc.robot.Coordinates;
+
 import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain;
 
 /**
@@ -60,108 +55,107 @@ 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.
-     */
-    @SuppressWarnings("unused")
+    /* 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(
-                    null, // Use default ramp rate (1 V/s)
-                    Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
-                    null, // Use default timeout (10 s)
-                    // Log state with SignalLogger class
-                    state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())),
-            new SysIdRoutine.Mechanism(
-                    output -> setControl(m_translationCharacterization.withVolts(output)),
-                    null,
-                    this));
+        new SysIdRoutine.Config(
+            null,        // Use default ramp rate (1 V/s)
+            Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout
+            null,        // Use default timeout (10 s)
+            // Log state with SignalLogger class
+            state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())
+        ),
+        new SysIdRoutine.Mechanism(
+            output -> setControl(m_translationCharacterization.withVolts(output)),
+            null,
+            this
+        )
+    );
 
-    /*
-     * SysId routine for characterizing steer. This is used to find PID gains for
-     * the steer motors.
-     */
-    @SuppressWarnings("unused")
+    /* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
     private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine(
-            new SysIdRoutine.Config(
-                    null, // Use default ramp rate (1 V/s)
-                    Volts.of(7), // Use dynamic voltage of 7 V
-                    null, // Use default timeout (10 s)
-                    // Log state with SignalLogger class
-                    state -> SignalLogger.writeString("SysIdSteer_State", state.toString())),
-            new SysIdRoutine.Mechanism(
-                    volts -> setControl(m_steerCharacterization.withVolts(volts)),
-                    null,
-                    this));
+        new SysIdRoutine.Config(
+            null,        // Use default ramp rate (1 V/s)
+            Volts.of(7), // Use dynamic voltage of 7 V
+            null,        // Use default timeout (10 s)
+            // Log state with SignalLogger class
+            state -> SignalLogger.writeString("SysIdSteer_State", state.toString())
+        ),
+        new SysIdRoutine.Mechanism(
+            volts -> setControl(m_steerCharacterization.withVolts(volts)),
+            null,
+            this
+        )
+    );
 
     /*
      * SysId routine for characterizing rotation.
-     * This is used to find PID gains for the FieldCentricFacingAngle
-     * HeadingController.
-     * See the documentation of SwerveRequest.SysIdSwerveRotation for info on
-     * importing the log to SysId.
+     * This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
+     * See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
      */
-    @SuppressWarnings("unused")
     private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine(
-            new SysIdRoutine.Config(
-                    /* This is in radians per second², but SysId only supports "volts per second" */
-                    Volts.of(Math.PI / 6).per(Second),
-                    /* This is in radians per second, but SysId only supports "volts" */
-                    Volts.of(Math.PI),
-                    null, // Use default timeout (10 s)
-                    // Log state with SignalLogger class
-                    state -> SignalLogger.writeString("SysIdRotation_State", state.toString())),
-            new SysIdRoutine.Mechanism(
-                    output -> {
-                        /* output is actually radians per second, but SysId only supports "volts" */
-                        setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
-                        /* also log the requested output for SysId */
-                        SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
-                    },
-                    null,
-                    this));
+        new SysIdRoutine.Config(
+            /* This is in radians per second², but SysId only supports "volts per second" */
+            Volts.of(Math.PI / 6).per(Second),
+            /* This is in radians per second, but SysId only supports "volts" */
+            Volts.of(Math.PI),
+            null, // Use default timeout (10 s)
+            // Log state with SignalLogger class
+            state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
+        ),
+        new SysIdRoutine.Mechanism(
+            output -> {
+                /* output is actually radians per second, but SysId only supports "volts" */
+                setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts)));
+                /* also log the requested output for SysId */
+                SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
+            },
+            null,
+            this
+        )
+    );
+
+    /* The SysId routine to test */
+    private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;
 
     private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
-
-    private void configureAutoBuilder() {
+     private void configureAutoBuilder() {
         try {
             RobotConfig config = RobotConfig.fromGUISettings();
             AutoBuilder.configure(
-                    () -> getState().Pose,
-                    this::resetPose,
-                    () -> getState().Speeds,
-                    (speeds, feedforwards) -> setControl(
-                            m_pathApplyRobotSpeeds.withSpeeds(ChassisSpeeds.discretize(speeds, 0.020))
-                                    .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
-                                    .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())),
-                    new PPHolonomicDriveController(
-                            new PIDConstants(10, 0, 0),
-                            new PIDConstants(7, 0, 0)),
-                    config,
-                    () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
-                    this);
+                () -> getState().Pose,  
+                this::resetPose,         
+                () -> getState().Speeds, 
+                (speeds, feedforwards) -> setControl(
+                    m_pathApplyRobotSpeeds.withSpeeds(ChassisSpeeds.discretize(speeds, 0.020))
+                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
+                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
+                ),
+                new PPHolonomicDriveController(
+                    new PIDConstants(10, 0, 0),
+                    new PIDConstants(7, 0, 0)
+                ),
+                config,
+                () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+                this 
+            );
         } catch (Exception ex) {
-            DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder",
-                    ex.getStackTrace());
+            DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
         }
     }
-
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
      * <p>
-     * This constructs the underlying hardware devices, so users should not
-     * construct
-     * the devices themselves. If they need the devices, they can access them
-     * through
+     * This constructs the underlying hardware devices, so users should not construct
+     * the devices themselves. If they need the devices, they can access them through
      * getters in the classes.
      *
-     * @param drivetrainConstants Drivetrain-wide constants for the swerve drive
-     * @param modules             Constants for each specific module
+     * @param drivetrainConstants   Drivetrain-wide constants for the swerve drive
+     * @param modules               Constants for each specific module
      */
     public CommandSwerveDrivetrain(
-            SwerveDrivetrainConstants drivetrainConstants,
-            SwerveModuleConstants<?, ?, ?>... modules) {
+        SwerveDrivetrainConstants drivetrainConstants,
+        SwerveModuleConstants<?, ?, ?>... modules
+    ) {
         super(drivetrainConstants, modules);
         if (Utils.isSimulation()) {
             startSimThread();
@@ -172,10 +166,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
      * <p>
-     * This constructs the underlying hardware devices, so users should not
-     * construct
-     * the devices themselves. If they need the devices, they can access them
-     * through
+     * This constructs the underlying hardware devices, so users should not construct
+     * the devices themselves. If they need the devices, they can access them through
      * getters in the classes.
      *
      * @param drivetrainConstants     Drivetrain-wide constants for the swerve drive
@@ -185,9 +177,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
      * @param modules                 Constants for each specific module
      */
     public CommandSwerveDrivetrain(
-            SwerveDrivetrainConstants drivetrainConstants,
-            double odometryUpdateFrequency,
-            SwerveModuleConstants<?, ?, ?>... modules) {
+        SwerveDrivetrainConstants drivetrainConstants,
+        double odometryUpdateFrequency,
+        SwerveModuleConstants<?, ?, ?>... modules
+    ) {
         super(drivetrainConstants, odometryUpdateFrequency, modules);
         if (Utils.isSimulation()) {
             startSimThread();
@@ -198,38 +191,30 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
      * <p>
-     * This constructs the underlying hardware devices, so users should not
-     * construct
-     * the devices themselves. If they need the devices, they can access them
-     * through
+     * This constructs the underlying hardware devices, so users should not construct
+     * the devices themselves. If they need the devices, they can access them through
      * getters in the classes.
      *
-     * @param drivetrainConstants       Drivetrain-wide constants for the swerve
-     *                                  drive
+     * @param drivetrainConstants       Drivetrain-wide constants for the swerve drive
      * @param odometryUpdateFrequency   The frequency to run the odometry loop. If
-     *                                  unspecified or set to 0 Hz, this is 250 Hz
-     *                                  on
+     *                                  unspecified or set to 0 Hz, this is 250 Hz on
      *                                  CAN FD, and 100 Hz on CAN 2.0.
-     * @param odometryStandardDeviation The standard deviation for odometry
-     *                                  calculation
-     *                                  in the form [x, y, theta]ᵀ, with units in
-     *                                  meters
+     * @param odometryStandardDeviation The standard deviation for odometry calculation
+     *                                  in the form [x, y, theta]ᵀ, with units in meters
      *                                  and radians
-     * @param visionStandardDeviation   The standard deviation for vision
-     *                                  calculation
-     *                                  in the form [x, y, theta]ᵀ, with units in
-     *                                  meters
+     * @param visionStandardDeviation   The standard deviation for vision calculation
+     *                                  in the form [x, y, theta]ᵀ, with units in meters
      *                                  and radians
      * @param modules                   Constants for each specific module
      */
     public CommandSwerveDrivetrain(
-            SwerveDrivetrainConstants drivetrainConstants,
-            double odometryUpdateFrequency,
-            Matrix<N3, N1> odometryStandardDeviation,
-            Matrix<N3, N1> visionStandardDeviation,
-            SwerveModuleConstants<?, ?, ?>... modules) {
-        super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation,
-                modules);
+        SwerveDrivetrainConstants drivetrainConstants,
+        double odometryUpdateFrequency,
+        Matrix<N3, N1> odometryStandardDeviation,
+        Matrix<N3, N1> visionStandardDeviation,
+        SwerveModuleConstants<?, ?, ?>... modules
+    ) {
+        super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation, modules);
         if (Utils.isSimulation()) {
             startSimThread();
         }
@@ -237,8 +222,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     }
 
     /**
-     * Returns a command that applies the specified control request to this swerve
-     * drivetrain.
+     * Returns a command that applies the specified control request to this swerve drivetrain.
      *
      * @param request Function returning the request to apply
      * @return Command to run
@@ -246,26 +230,43 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     public Command applyRequest(Supplier<SwerveRequest> request) {
         return run(() -> this.setControl(request.get()));
     }
+    public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
+        return m_sysIdRoutineToApply.quasistatic(direction);
+    }
+
+    /**
+     * Runs the SysId Dynamic test in the given direction for the routine
+     * specified by {@link #m_sysIdRoutineToApply}.
+     *
+     * @param direction Direction of the SysId Dynamic test
+     * @return Command to run
+     */
+    public Command sysIdDynamic(SysIdRoutine.Direction direction) {
+        return m_sysIdRoutineToApply.dynamic(direction);
+    }
 
     @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.
-         * This allows us to correct the perspective in case the robot code restarts
-         * mid-match.
-         * Otherwise, only check and apply the operator perspective if the DS is
-         * disabled.
-         * This ensures driving behavior doesn't change until an explicit disable event
-         * occurs during testing.
+         * If we haven't applied the operator perspective before, then we should apply it regardless of DS state.
+         * This allows us to correct the perspective in case the robot code restarts mid-match.
+         * Otherwise, only check and apply the operator perspective if the DS is disabled.
+         * This ensures driving behavior doesn't change until an explicit disable event occurs during testing.
          */
         if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
             DriverStation.getAlliance().ifPresent(allianceColor -> {
                 setOperatorPerspectiveForward(
-                        allianceColor == Alliance.Red
-                                ? kRedAlliancePerspectiveRotation
-                                : kBlueAlliancePerspectiveRotation);
+                    allianceColor == Alliance.Red
+                        ? kRedAlliancePerspectiveRotation
+                        : kBlueAlliancePerspectiveRotation
+                );
                 m_hasAppliedOperatorPerspective = true;
             });
         }
@@ -287,14 +288,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     }
 
     /**
-     * Adds a vision measurement to the Kalman Filter. This will correct the
-     * odometry pose estimate
+     * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
      * while still accounting for measurement noise.
      *
-     * @param visionRobotPoseMeters The pose of the robot as measured by the vision
-     *                              camera.
-     * @param timestampSeconds      The timestamp of the vision measurement in
-     *                              seconds.
+     * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+     * @param timestampSeconds The timestamp of the vision measurement in seconds.
      */
     @Override
     public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
@@ -302,74 +300,35 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     }
 
     /**
-     * Adds a vision measurement to the Kalman Filter. This will correct the
-     * odometry pose estimate
+     * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
      * while still accounting for measurement noise.
      * <p>
      * Note that the vision measurement standard deviations passed into this method
      * will continue to apply to future measurements until a subsequent call to
      * {@link #setVisionMeasurementStdDevs(Matrix)} or this method.
      *
-     * @param visionRobotPoseMeters    The pose of the robot as measured by the
-     *                                 vision camera.
-     * @param timestampSeconds         The timestamp of the vision measurement in
-     *                                 seconds.
-     * @param visionMeasurementStdDevs Standard deviations of the vision pose
-     *                                 measurement
-     *                                 in the form [x, y, theta]ᵀ, with units in
-     *                                 meters and radians.
+     * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+     * @param timestampSeconds The timestamp of the vision measurement in seconds.
+     * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement
+     *     in the form [x, y, theta]ᵀ, with units in meters and radians.
      */
     @Override
     public void addVisionMeasurement(
-            Pose2d visionRobotPoseMeters,
-            double timestampSeconds,
-            Matrix<N3, N1> visionMeasurementStdDevs) {
-        super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds),
-                visionMeasurementStdDevs);
+        Pose2d visionRobotPoseMeters,
+        double timestampSeconds,
+        Matrix<N3, N1> visionMeasurementStdDevs
+    ) {
+        super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds), visionMeasurementStdDevs);
     }
 
     /**
      * Return the pose at a given timestamp, if the buffer is not empty.
      *
      * @param timestampSeconds The timestamp of the pose in seconds.
-     * @return The pose at the given timestamp (or Optional.empty() if the buffer is
-     *         empty).
+     * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty).
      */
     @Override
     public Optional<Pose2d> samplePoseAt(double timestampSeconds) {
         return super.samplePoseAt(Utils.fpgaToCurrentTime(timestampSeconds));
     }
-
-    private SwerveRequest.FieldCentricFacingAngle fieldCentricFacingAngle = new FieldCentricFacingAngle()
-            .withDriveRequestType(DriveRequestType.OpenLoopVoltage).withHeadingPID(7, 0, 0);
-
-    public Command viserReservoir(Supplier<Double> velocityX, Supplier<Double> velocityY) {
-        return runEnd(() -> {
-            Translation2d diff = Coordinates.diffFromHub(getState().Pose.getTranslation());
-            Rotation2d angle = diff.getAngle();
-            setControl(fieldCentricFacingAngle
-                    .withTargetDirection(angle)
-                    .withVelocityX(velocityX.get())
-                    .withVelocityY(velocityY.get()));
-        }, () -> setControl(fieldCentricFacingAngle.withVelocityX(0).withVelocityY(0)));
-    }
-
-    public Command allerGrimper(Supplier<Translation2d> diffSupplier) {
-        return runEnd(() -> {
-            Translation2d diff = diffSupplier.get();
-            Rotation2d angle = diff.getAngle().rotateBy(new Rotation2d(Degrees.of(-90)));
-            setControl(fieldCentricFacingAngle
-                    .withTargetDirection(angle)
-                    .withVelocityX(diff.getX())
-                    .withVelocityY(diff.getY()));
-        }, () -> setControl(fieldCentricFacingAngle.withVelocityX(0).withVelocityY(0)));
-    }
-
-    public Command allerGrimpeMur() {
-        return allerGrimper(() -> Coordinates.diffFromGrimpeMur(getState().Pose.getTranslation()));
-    }
-
-    public Command allerGrimpeDepot() {
-        return allerGrimper(() -> Coordinates.diffFromGrimpeDepot(getState().Pose.getTranslation()));
-    }
 }

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

@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.subsystems;
-
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Demeleur extends SubsystemBase {
-
-  SparkMax moteur = new SparkMax(19, MotorType.kBrushless);
-
-  /** Creates a new Demeleur. */
-  public Demeleur() {
-  }
-
-  public Command run() {
-    return startEnd(() -> moteur.set(1), () -> moteur.set(0));
-  }
-
-  public Command inverse() {
-    return startEnd(() -> moteur.set(-0.2), () -> moteur.set(0));
-  }
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

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

@@ -4,76 +4,48 @@
 
 package frc.robot.subsystems;
 
-import com.revrobotics.PersistMode;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.config.SoftLimitConfig;
-import com.revrobotics.spark.config.SparkBaseConfig;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkMax moteur1 = new SparkMax(3, MotorType.kBrushless);
-  SparkMax moteur2 = new SparkMax(12, MotorType.kBrushless);
-  RelativeEncoder encoder1 = moteur1.getEncoder();
-  RelativeEncoder encoder2 = moteur2.getEncoder();
-
-  private double vitesseSortir = 0.5;
-  private double vitesseEntrer = -0.4;
-
-  private GenericEntry ntEncodeurGrimpeur = teb.add("Position haut grimpeur", 101).getEntry();
-
-  private double maxEncodeur = ntEncodeurGrimpeur.getDouble(101);
-
+  SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
+  SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
+  SparkMaxConfig slaveConfig = new SparkMaxConfig();
   DigitalInput limit = new DigitalInput(0);
-
+    private GenericEntry EncodeurGrimpeur =
+  teb.add("Position haut grimpeur", 101).getEntry();
+  public void Grimper(double vitesse){
+    grimpeur1.set(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(101);
+  }
+  /** Creates a new Grimpeur. */
   public Grimpeur() {
-    teb.addDouble("encodeur grimpeur", encoder1::getPosition);
-    teb.addBoolean("limit grimpeur", limit::get);
-    configMoteurs();
-  }
-
-  private void configMoteurs() {
-    SparkBaseConfig configMoteur = new SparkMaxConfig().apply(
-        new SoftLimitConfig().forwardSoftLimit(maxEncodeur).forwardSoftLimitEnabled(true)
-            .reverseSoftLimit(0).reverseSoftLimitEnabled(true))
-        .openLoopRampRate(0.1)
-        .idleMode(IdleMode.kBrake);
-    moteur1.configure(configMoteur, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
-    moteur2.configure(configMoteur.follow(moteur1), ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
-  }
-
-  public Command sortir() {
-    return startEnd(() -> moteur1.set(vitesseSortir), () -> moteur1.set(0))
-        .until(() -> moteur1.getForwardSoftLimit().isReached() || moteur2.getForwardSoftLimit().isReached());
-  }
-
-  public Command rentrer() {
-    return startEnd(() -> moteur1.set(vitesseEntrer), () -> moteur1.set(0))
-        .until(() -> moteur1.getReverseSoftLimit().isReached() || moteur2.getReverseSoftLimit().isReached());
+    teb.addDouble("encodeur grimpeur", this::Position);
+    teb.addBoolean("limit grimpeur", this::Limit);
   }
 
   @Override
   public void periodic() {
-    if (limit.get()) {
-      encoder1.setPosition(0);
-      encoder2.setPosition(0);
-    }
-
-    double newEncoderMax = ntEncodeurGrimpeur.getDouble(maxEncodeur);
-    if (newEncoderMax != maxEncodeur) {
-      maxEncodeur = newEncoderMax;
-      configMoteurs();
-    }
+    // This method will be called once per scheduler run
   }
 }

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

@@ -0,0 +1,142 @@
+/* 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();
+        System.out.println(temps);
+        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/Lanceur.java

@@ -4,71 +4,48 @@
 
 package frc.robot.subsystems;
 
-import java.util.function.Supplier;
-
-import com.revrobotics.PersistMode;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.config.ClosedLoopConfig;
-import com.revrobotics.spark.config.SparkBaseConfig;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
-import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.SparkMax;
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-
   SparkFlex moteur1 = new SparkFlex(15, MotorType.kBrushless);
   SparkFlex moteur2 = new SparkFlex(18, MotorType.kBrushless);
-
-  RelativeEncoder encoder = moteur1.getEncoder();
-
-  GenericEntry vitesse = teb.add("vitesse lanceur", 4000).getEntry();
-  GenericEntry AmpLanceur = teb.add("ampérage lanceur", 30).getEntry();
-
+  SparkMax Demeleur = new SparkMax(19, MotorType.kBrushless);
+  GenericEntry vitesse = 
+  teb.add("vitesse lanceur",4000).getEntry();
+  GenericEntry AmpLanceur = 
+  teb.add("ampérage lanceur",30).getEntry();
+  
+  public void Lancer(double vitesse){
+    moteur1.set(vitesse);
+    moteur2.set(vitesse);
+  }
+  public void Demeler(double vitesse){
+    Demeleur.set(vitesse);
+  }
+  public double Vitesse(){
+    return moteur1.getEncoder().getVelocity();
+  }
+  public double Amp(){
+    return moteur1.getOutputCurrent();
+  }
+  public double AmpBas(){
+    return AmpLanceur.getDouble(30);
+  }
+  public double vitesseDemander(){
+    return vitesse.getDouble(4000);
+  }
   /** Creates a new Lanceur. */
   public Lanceur() {
-    teb.addDouble("amperage lanceur", moteur1::getOutputCurrent);
-    teb.addDouble("vitesse actuelle", encoder::getVelocity);
-    configMoteurs();
-  }
-
-  private void configMoteurs() {
-    SparkBaseConfig configMoteur = new SparkMaxConfig().apply(
-        new ClosedLoopConfig().pid(0.0007, 0, 0))
-        .openLoopRampRate(0.1)
-        .idleMode(IdleMode.kCoast);
-    moteur1.configure(configMoteur, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
-    moteur2.configure(configMoteur.follow(moteur1), ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
-  }
-
-  public Command lancer(Supplier<Double> vitesse) {
-    return runEnd(() -> moteur1.getClosedLoopController().setSetpoint(vitesse.get(), ControlType.kVelocity),
-        () -> moteur1.set(0));
-  }
-
-  public Command inverse() {
-    return startEnd(() -> moteur1.set(-0.2), () -> moteur1.set(0));
-  }
-
-  public double getVitesse() {
-    return encoder.getVelocity();
-  }
-
-  public boolean setPointAtteint() {
-    return getVitesse() >= moteur1.getClosedLoopController().getSetpoint() * 0.95;
-  }
-
-  public double ntBasseVitesse() {
-    return vitesse.getDouble(4000);
+    teb.addDouble("amperage lanceur", this::Amp);
+    teb.addDouble("vitesse actuelle",this::Vitesse);
   }
 
   @Override
@@ -76,3 +53,4 @@ public class Lanceur extends SubsystemBase {
     // This method will be called once per scheduler run
   }
 }
+

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/LimeLight3.java

@@ -0,0 +1,74 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.LimelightHelpers;
+ 
+public class LimeLight3 extends SubsystemBase {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  /** Creates a new LimeLight3. */
+  public LimeLight3() {
+        for(int port = 5800; port <=5807; port++){
+      PortForwarder.add(port, "limelight.local", port);
+    }
+  }
+  public double[] getBotPoseBlue(){
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+    }
+    public double[] getBotPoseRed(){
+      NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+    }
+    public double getTx(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+      NetworkTableEntry tx = table.getEntry("tx");
+      return tx.getDouble(0.0);
+    }
+    public double getTId(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+      NetworkTableEntry tid = table.getEntry("tid");
+      return tid.getDouble(0.0);
+    }
+    public double getTA(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
+      NetworkTableEntry ta = table.getEntry("ta");
+      return ta.getDouble(0.0);
+    }
+    public boolean getV(){
+      return LimelightHelpers.getTV("limelight-balaie");
+    }
+    public void AprilTag(){
+      pipeline.setNumber(0);
+    }
+    public void Forme(){
+      pipeline.setNumber(1);
+    }
+    public double Calcule(double x1, double x2, double y1, double y2, double angle)
+    {
+      if (x1 > 4)
+      {
+        return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle)/90;
+      }
+      else
+      {
+          return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1/90;
+      }
+    }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,82 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.LimelightHelpers;
+
+public class Limelight3G extends SubsystemBase {
+NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  /** Creates a new LimeLight3. */
+  public Limelight3G() {
+        for(int port = 5800; port <=5807; port++){
+      PortForwarder.add(port, "limelight.local", port);
+    }
+  }
+  public double[] getBotPoseBlue(){
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+    }
+    public double[] getBotPoseRed(){
+      NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+    }
+    public double getTx(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+      NetworkTableEntry tx = table.getEntry("tx");
+      return tx.getDouble(0.0);
+    }
+    public double getTId(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+      NetworkTableEntry tid = table.getEntry("tid");
+      return tid.getDouble(0.0);
+    }
+    public double getTA(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+      NetworkTableEntry ta = table.getEntry("ta");
+      return ta.getDouble(0.0);
+    }
+    public boolean getV(){
+      return LimelightHelpers.getTV("limelight-tag");
+    }
+    public double Calcule(double x1, double x2, double y1, double y2, double angle)
+    {
+      // if(x1 > x2){
+      //   if(y1 > y2){
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
+      //   }
+      //   else{
+      //     return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+90 - angle;
+      //   }
+      // }
+      // else{
+      //   if(y1 > y2){
+      //     return Math.atan((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) - angle;
+        }
+    }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -1,82 +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.revrobotics.PersistMode;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.config.SoftLimitConfig;
-import com.revrobotics.spark.config.SparkBaseConfig;
-import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
-import com.revrobotics.spark.config.SparkMaxConfig;
-
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class PivotBalayeuse extends SubsystemBase {
-
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-
-  SparkMax moteur = new SparkMax(8, MotorType.kBrushless);
-  RelativeEncoder encoder = moteur.getEncoder();
-  DigitalInput limit = new DigitalInput(9);
-
-  private GenericEntry ntEncodeurBalayeuse = teb.add("Position bas balayeuse", 1.8).getEntry();
-
-  private double maxEncodeur = ntEncodeurBalayeuse.getDouble(1.8);
-
-  private double vitesseMonter = 0.5;
-  private double vitesseDescendre = -0.5;
-
-  /** Creates a new PivotBalayeuse. */
-  public PivotBalayeuse() {
-    configMoteurs();
-  }
-
-  private void configMoteurs() {
-    SparkBaseConfig configMoteur = new SparkMaxConfig().apply(
-        new SoftLimitConfig().forwardSoftLimit(maxEncodeur).forwardSoftLimitEnabled(true)
-            .reverseSoftLimit(0.6).reverseSoftLimitEnabled(true))
-        .openLoopRampRate(0.1)
-        .idleMode(IdleMode.kBrake);
-    moteur.configure(configMoteur, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
-  }
-
-  public Command monter() {
-    return startEnd(() -> moteur.set(vitesseMonter), () -> moteur.set(0))
-        .until(() -> moteur.getForwardSoftLimit().isReached());
-  }
-
-  public Command descendre() {
-    return startEnd(() -> moteur.set(vitesseDescendre), () -> moteur.set(0))
-        .until(() -> moteur.getReverseSoftLimit().isReached());
-  }
-
-  public double EncodeurBalayeuse() {
-    return ntEncodeurBalayeuse.getDouble(1.8);
-  }
-
-  @Override
-  public void periodic() {
-    teb.addBoolean("limit balayeuse", limit::get);
-    teb.addDouble("encodeur balayeuse", encoder::getPosition);
-
-    if (!limit.get()) {
-      encoder.setPosition(0.6);
-    }
-
-    double newEncoderMax = ntEncodeurBalayeuse.getDouble(maxEncodeur);
-    if (newEncoderMax != maxEncodeur) {
-      maxEncodeur = newEncoderMax;
-      configMoteurs();
-    }
-  }
-}