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

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

@@ -24,9 +24,12 @@ public class DescendreBalyeuse extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(balayeuse.Distance() < balayeuse.EncodeurBalayeuse()){
+    if(Math.abs(balayeuse.Distance()) < balayeuse.EncodeurBalayeuse()){
       balayeuse.Pivoter(-0.2);
     }
+    else{
+      balayeuse.Pivoter(0);
+    }
   }
 
   // Called once the command ends or is interrupted.

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

@@ -24,7 +24,7 @@ public class DescendreGrimpeur extends Command {
   @Override
   public void execute() {
     if(!grimpeur.Limit()){
-      grimpeur.Grimper(-0.5);
+      grimpeur.Grimper(-0.2);
     }
     else{
       grimpeur.Reset();

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

@@ -23,8 +23,13 @@ public class MonterGrimpeur extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.Position() < grimpeur.PositionFinal()){
+    
-      grimpeur.Grimper(0.5);
+    if(Math.abs(grimpeur.Position()) < grimpeur.PositionFinal()){
+      grimpeur.Grimper(0.2);
+      System.out.println("monte");
+    }
+    else {
+      grimpeur.Grimper(0);
     }
   }
 

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

@@ -39,7 +39,7 @@ public class Balayeuse extends SubsystemBase {
     Pivot.getEncoder().setPosition(0);
   }
   public boolean GetLimiSwtich(){
-    return limit.get();
+    return !limit.get();
   }
   public double Amp(){
     return Balaye2.getOutputCurrent();

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

@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
-  SparkMax grimpeur2 = new SparkMax(4,MotorType.kBrushless);
+  SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
   SparkMaxConfig slaveConfig = new SparkMaxConfig();
   DigitalInput limit = new DigitalInput(0);
     private GenericEntry EncodeurGrimpeur =