big stuff

build.gradle

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

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

@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5732667617689007,
+        "x": 3.6120827389443653,
         "y": 5.917574893009986
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.266462196861626,
+        "x": 2.3052781740370905,
         "y": 5.904636233951498
       },
       "isLocked": false,
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.4938659058487873,
         "y": 5.917574893009986
       },
       "prevControl": {
-        "x": 1.7230385164051354,
+        "x": 1.0372895863052785,
         "y": 5.930513552068473
       },
       "nextControl": null,

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

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.5197432239657629,
-        "y": 5.917574893009986
+        "y": 5.930513552068473
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3570328102710407,
+        "x": 1.6971611982881594,
-        "y": 5.982268188302426
+        "y": 5.995206847360913
       },
       "isLocked": false,
       "linkedName": null
@@ -30,7 +30,7 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.2179128348660559,
+      "waypointRelativePos": 0.3240938166311289,
       "rotationDegrees": 180.0
     }
   ],

src/main/java/frc/robot/Commandes.java

@@ -0,0 +1,67 @@
+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

@@ -0,0 +1,41 @@
+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

@@ -0,0 +1,75 @@
+// 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

@@ -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;
+
+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

@@ -4,6 +4,7 @@
 
 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;
@@ -27,19 +28,28 @@ 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);
+      m_robotContainer.drivetrain.addVisionMeasurement(llMeasurement.pose, llMeasurement.timestampSeconds,
+          limelightStdDevs);
     }
   }
 
   @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() {
@@ -51,10 +61,12 @@ public class Robot extends TimedRobot {
   }
 
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+  }
 
   @Override
-  public void autonomousExit() {}
+  public void autonomousExit() {
+  }
 
   @Override
   public void teleopInit() {
@@ -64,10 +76,12 @@ public class Robot extends TimedRobot {
   }
 
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+  }
 
   @Override
-  public void teleopExit() {}
+  public void teleopExit() {
+  }
 
   @Override
   public void testInit() {
@@ -75,8 +89,10 @@ 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

@@ -4,7 +4,9 @@
 
 package frc.robot;
 
-import static edu.wpi.first.units.Units.*;
+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 com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
@@ -12,28 +14,11 @@ 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.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.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;
@@ -41,50 +26,50 @@ 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.Lanceur;
 import frc.robot.subsystems.Led;
-import frc.robot.subsystems.LimeLight3;
+import frc.robot.subsystems.PivotBalayeuse;
-import frc.robot.subsystems.Limelight3G;
 
 public class RobotContainer {
   private final SendableChooser<Command> autoChooser;
-  Balayeuse balayeuse = new Balayeuse();
+  public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-  Grimpeur grimpeur = new Grimpeur();
+  private final Balayeuse balayeuse = new Balayeuse();
-  Lanceur lanceur = new Lanceur();
+  private final PivotBalayeuse pivotBalayeuse = new PivotBalayeuse();
-  LimeLight3 limeLight3 = new LimeLight3();
+  private final Demeleur demeleur = new Demeleur();
-  Limelight3G limeLight3G = new Limelight3G();
+  private final Grimpeur grimpeur = new Grimpeur();
-  Led led = new Led();
+  private final Lanceur lanceur = new Lanceur();
-  CommandXboxController manette = new CommandXboxController(0);
+  private final Commandes commandes = new Commandes(drivetrain, lanceur, demeleur, balayeuse, grimpeur, pivotBalayeuse);
-  CommandXboxController manette1 = new CommandXboxController(1);
+  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);
   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
-    private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
-    private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
 
   private final Telemetry logger = new Telemetry(MaxSpeed);
 
-    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-
-
   public RobotContainer() {
-    NamedCommands.registerCommand("GrimperMur", new GrimperMur(limeLight3,drivetrain));
+    NamedCommands.registerCommand("GrimperMur", drivetrain.allerGrimpeMur());
-    NamedCommands.registerCommand("GrimperReservoir", new GrimperReservoir(limeLight3G,drivetrain));
+    NamedCommands.registerCommand("GrimperReservoir", drivetrain.allerGrimpeDepot());
-    NamedCommands.registerCommand("Lancer", new LancerAuto(lanceur, limeLight3G));
+    NamedCommands.registerCommand("Lancer", commandes.lancer());
-    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain,limeLight3G));
+    NamedCommands.registerCommand("RetourMilieuDroite", new RetourMilieuDroite(drivetrain, limeLight3G));
     NamedCommands.registerCommand("RetourMilieuGauche", new RetourMilieuGauche(drivetrain, limeLight3G));
-    NamedCommands.registerCommand("Limelighter", new LimelighterAuto(limeLight3G,drivetrain));
+    NamedCommands.registerCommand("Limelighter", commandes.viserLancer());
-    NamedCommands.registerCommand("DescendreBalayeuse", new DescendreBalyeuse(balayeuse));
+    NamedCommands.registerCommand("DescendreBalayeuse", pivotBalayeuse.descendre());
-    NamedCommands.registerCommand("Aspirer", new AspirerAuto(balayeuse));
+    NamedCommands.registerCommand("Aspirer", balayeuse.aspirer());
     NamedCommands.registerCommand("TournerA180", new TournerVersReservoir(drivetrain));
     NamedCommands.registerCommand("TournerAZero", new TournerVersMur(drivetrain));
-    NamedCommands.registerCommand("MonterGrimpeur", new MonterGrimpeur(grimpeur));
+    NamedCommands.registerCommand("MonterGrimpeur", grimpeur.sortir());
-    NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
+    NamedCommands.registerCommand("DescendreGrimpeur", grimpeur.rentrer());
     autoChooser = AutoBuilder.buildAutoChooser();
     SmartDashboard.putData("Auto Chooser", autoChooser);
 
@@ -94,38 +79,36 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
+
+    // Manette 0 (pilote)
     drivetrain.setDefaultCommand(
-          drivetrain.applyRequest(() ->
+        drivetrain.applyRequest(() -> drive
-            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) 
+            .withVelocityY(-manette.getLeftX() * MaxSpeed * 0.7)
-              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed*0.7, 0.05)) 
+            .withVelocityX(-manette.getLeftY() * MaxSpeed * 0.7)
-             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate*0.7, 0.05))
+            .withRotationalRate(-manette.getRightX() * MaxAngularRate)));
-        )
+    manette.rightBumper().whileTrue(balayeuse.aspirer());
-      );
+    manette.povUp().whileTrue(grimpeur.sortir());
-    //manette 1
+    manette.povDown().whileTrue(grimpeur.rentrer());
-    // 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.rightTrigger().whileTrue(commandes.lancer());
-    manette.povDown().whileTrue(new DescendreGrimpeur(grimpeur));
+    manette.leftTrigger().whileTrue(
-    manette.rightTrigger().whileTrue(new Lancer(lanceur, limeLight3G));
+        commandes.viserLancer(() -> -manette.getLeftY() * MaxSpeed * 0.7, () -> -manette.getLeftX() * MaxSpeed * 0.7));
-    manette.leftTrigger().whileTrue(new Limelighter(limeLight3G, drivetrain));
+    manette.leftBumper().whileTrue(pivotBalayeuse.descendre());
-    manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
+    manette.b().whileTrue(drivetrain.allerGrimpeDepot());
-    manette.rightBumper().whileTrue(new Aspirer(balayeuse));
+    manette.x().whileTrue(drivetrain.allerGrimpeMur());
-    manette.b().whileTrue(new GrimperReservoir(limeLight3G, drivetrain));
-    manette.x().whileTrue(new GrimperMur(limeLight3, drivetrain));
 
+    // Manette 1 (co-pilote)
+    manette1.rightTrigger().whileTrue(balayeuse.aspirer());
 
-    //manette 2
+    manette1.rightBumper().whileTrue(pivotBalayeuse.monter());
-    manette1.rightTrigger().whileTrue(new Aspirer(balayeuse));
+    manette1.leftTrigger().whileTrue(commandes.lancer(() -> lanceur.ntBasseVitesse()));
-    manette1.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
+    manette1.leftBumper().whileTrue(pivotBalayeuse.descendre());
-    manette1.leftTrigger().whileTrue(new LancerBaseVitesse(lanceur));
+    manette1.x().whileTrue(commandes.lancerAspirer());
-    manette1.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
+    manette1.b().whileTrue(Commands.parallel(lanceur.inverse(), demeleur.inverse()));
-    manette1.x().whileTrue(new LancerAspirer(lanceur, balayeuse, limeLight3G));
+    manette1.a().whileTrue(demeleur.inverse());
-    manette1.b().whileTrue(new ModeOposer(lanceur));
+    manette1.y().whileTrue(balayeuse.ejecter());
-    manette1.a().whileTrue(new ModeOposerDemeleur(lanceur));
+
-    manette1.y().whileTrue(new ModeOposerBalayeuse(balayeuse));
+    drivetrain.registerTelemetry(logger::telemeterize);
   }
 
   public Command getAutonomousCommand() {

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

@@ -1,44 +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.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

@@ -1,46 +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.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

@@ -1,46 +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.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/Lancer.java

@@ -1,89 +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.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()){vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;}
-    pidController = new PIDController(0.0007, 0,0, 0.001);
-    timer.reset();  
-  }
-
-  // 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.get() == Alliance.Blue){
-        BotPose = limeLight3G.getBotPoseBlue();
-      }
-      else{
-        BotPose = limeLight3G.getBotPoseRed();
-      } 
-      botx = BotPose[0];
-      boty = BotPose[1];
-    }                                            
-    if(limeLight3G.getV()){
-      System.out.println(vitesse);
-
-      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.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

@@ -1,23 +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.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

@@ -1,63 +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.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

@@ -1,91 +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.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;
-   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() {}
-
-  // 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()) {
-      if(alliance.get() == Alliance.Blue){
-        BotPose = limelight3g.getBotPoseBlue();
-      }
-      else{
-        BotPose = limelight3g.getBotPoseRed();
-      }
-      
-      botx = BotPose[1];
-      boty = BotPose[0];
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      if(angle >180){
-        angle -= 360;
-      }
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 10;  
-      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

@@ -1,43 +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.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/GrimperMur.java

@@ -1,107 +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.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.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;
-
-/* 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;
-  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() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    BotPose = limeLight3.getBotPoseBlue();
-    botx = BotPose[0];
-    boty = BotPose[1];
-    if(angle < 0){
-      angle = angle + 360;
-    }
-    if(alliance.get() == Alliance.Blue){
-     y = 2.961328;
-     x = 1.11;
-     angle = 0;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5));
-      }
-    }
-    }
-    else{
-     x = 11.45966;
-     y = 6.959326;
-     angle = 180;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 175 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 185){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(0.5));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5));
-      }
-    }
-    }
-    
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    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

@@ -1,107 +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.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.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;
-  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 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() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    BotPose = limeLight3G.getBotPoseBlue();
-    botx = BotPose[0];
-    boty = BotPose[1];
-    if(angle < 0){
-      angle = angle + 360;
-    }
-    if(alliance.get() == Alliance.Blue){
-     y = 5.081328;
-     x = 1.11;
-     angle = 180;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 185 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 175){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(0.5));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5));
-      }
-    }
-    }
-    else{
-     y = 6.959326;
-     x = 13.57966;
-     angle = 0;
-     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
-    }
-    else{
-      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-        drivetrain.setControl(drive.withRotationalRate(-0.5));
-      }
-      else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-        drivetrain.setControl(drive.withRotationalRate(0.5));
-      }
-    }
-    }
-    
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    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/LancerAuto.java

@@ -1,89 +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.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);
-  }
-
-  // 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()){
-      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(vitesse);
-
-      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

@@ -1,98 +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.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.MetersPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.RotationsPerSecond;
-
-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;
-  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() {
-    
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    double[] BotPose = new double[6];
-    System.out.println("a");
-    if (limelight3g.getV()) {
-      if(alliance.isPresent()){
-        if(alliance.get() == Alliance.Blue){
-        BotPose = limelight3g.getBotPoseBlue();
-      }
-      else{
-        BotPose = limelight3g.getBotPoseRed();
-      }
-      }
-      botx = BotPose[1];
-      boty = BotPose[0];
-      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      if(angle >180){
-        angle -= 360;
-      }
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
-      drivetrain.setControl(
-          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
-      System.out.println(calcul);
-      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 < 0.1 && calcul > -0.1;
-  }
-}
-

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, limelight3g);
+    addRequirements(drivetrain);
     // 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, limelight3g);
+    addRequirements(drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 

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

@@ -51,10 +51,10 @@ public class TournerVersMur extends Command {
       angle = 180;
     }
     if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
-      drivetrain.setControl(drive.withRotationalRate(force));
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
     }
     else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
-      drivetrain.setControl(drive.withRotationalRate(-force));
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
     }
   }
 
@@ -65,6 +65,6 @@ public class TournerVersMur extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 5;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 10;
   }
 }

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

@@ -42,6 +42,7 @@ public class TournerVersReservoir extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(alliance.isPresent()){
      if(alliance.get() == Alliance.Blue){
       force = 0.5;
       angle = 180;
@@ -50,11 +51,12 @@ public class TournerVersReservoir extends Command {
       force = -0.5;
       angle = 0;
     } 
+    }
     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-      drivetrain.setControl(drive.withRotationalRate(-force));
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
     }
     else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-      drivetrain.setControl(drive.withRotationalRate(force));
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
     }
   }
 
@@ -65,6 +67,6 @@ 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 + 5;
+    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
   }
 }

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

@@ -1,43 +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.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

@@ -1,43 +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.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

@@ -1,42 +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.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 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() {  
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    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/MonterBalyeuse.java

@@ -1,47 +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.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

@@ -1,47 +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.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 false;
-  }
-}

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

@@ -5,61 +5,42 @@
 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 Balaye1 = new SparkFlex(2, MotorType.kBrushless);
+  SparkFlex moteurBas = new SparkFlex(2, MotorType.kBrushless);
-  SparkFlex Balaye2 = new SparkFlex(20, MotorType.kBrushless);
+  SparkFlex moteurHaut = new SparkFlex(20, MotorType.kBrushless);
-  SparkMax Pivot = new SparkMax(8, MotorType.kBrushless);
+
-  DigitalInput limit = new DigitalInput(9);
+  private final double vitesseMoteurBas = -0.5;
-  private GenericEntry EncodeurBalayeuse =
+  private final double vitesseMoteurHaut = -0.2;
-  teb.add("Position bas balayeuse", 1.8).getEntry();
+
-  private GenericEntry AmpBaleyeuse =
+  public Command balaye(double vitesseBas, double vitesseHaut) {
-  teb.add("Ampérage Baleyeuse", 40).getEntry();
+    return startEnd(
-  public void BalayerEnbas(double vitesse){
+        () -> {
-    Balaye1.set(vitesse);
+          moteurBas.set(vitesseBas);
+          moteurHaut.set(vitesseHaut);
+        }, () -> {
+          moteurBas.set(0);
+          moteurHaut.set(0);
+        });
   }
-  public void BalayerPadle(double vitesse){
+
-    Balaye2.set(vitesse);
+  public Command aspirer() {
+    return balaye(vitesseMoteurBas, vitesseMoteurHaut);
   }
-  public void Pivoter(double vitesse){
+
-    Pivot.set(vitesse);
+  public Command ejecter() {
-  }
+    return balaye(-vitesseMoteurBas, -vitesseMoteurHaut);
-  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

@@ -1,6 +1,8 @@
 package frc.robot.subsystems;
 
-import static edu.wpi.first.units.Units.*;
+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 java.util.Optional;
 import java.util.function.Supplier;
@@ -9,8 +11,10 @@ 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;
@@ -19,6 +23,7 @@ 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;
@@ -29,7 +34,7 @@ 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;
 
 /**
@@ -56,43 +61,48 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     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. */
+    /*
+     * SysId routine for characterizing translation. This is used to find PID gains
+     * for the drive motors.
+     */
+    @SuppressWarnings("unused")
     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())
+                    state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())),
-        ),
             new SysIdRoutine.Mechanism(
                     output -> setControl(m_translationCharacterization.withVolts(output)),
                     null,
-            this
+                    this));
-        )
-    );
 
-    /* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */
+    /*
+     * SysId routine for characterizing steer. This is used to find PID gains for
+     * the steer motors.
+     */
+    @SuppressWarnings("unused")
     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())
+                    state -> SignalLogger.writeString("SysIdSteer_State", state.toString())),
-        ),
             new SysIdRoutine.Mechanism(
                     volts -> setControl(m_steerCharacterization.withVolts(volts)),
                     null,
-            this
+                    this));
-        )
-    );
 
     /*
      * SysId routine for characterizing rotation.
-     * This is used to find PID gains for the FieldCentricFacingAngle HeadingController.
+     * This is used to find PID gains for the FieldCentricFacingAngle
-     * See the documentation of SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId.
+     * 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" */
@@ -101,8 +111,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
                     Volts.of(Math.PI),
                     null, // Use default timeout (10 s)
                     // Log state with SignalLogger class
-            state -> SignalLogger.writeString("SysIdRotation_State", state.toString())
+                    state -> SignalLogger.writeString("SysIdRotation_State", state.toString())),
-        ),
             new SysIdRoutine.Mechanism(
                     output -> {
                         /* output is actually radians per second, but SysId only supports "volts" */
@@ -111,14 +120,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
                         SignalLogger.writeDouble("Rotational_Rate", output.in(Volts));
                     },
                     null,
-            this
+                    this));
-        )
-    );
-
-    /* The SysId routine to test */
-    private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;
 
     private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
+
     private void configureAutoBuilder() {
         try {
             RobotConfig config = RobotConfig.fromGUISettings();
@@ -129,25 +134,26 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
                     (speeds, feedforwards) -> setControl(
                             m_pathApplyRobotSpeeds.withSpeeds(ChassisSpeeds.discretize(speeds, 0.020))
                                     .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
-                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
+                                    .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())),
-                ),
                     new PPHolonomicDriveController(
                             new PIDConstants(10, 0, 0),
-                    new PIDConstants(7, 0, 0)
+                            new PIDConstants(7, 0, 0)),
-                ),
                     config,
                     () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
-                this 
+                    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
+     * This constructs the underlying hardware devices, so users should not
-     * the devices themselves. If they need the devices, they can access them through
+     * 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
@@ -155,8 +161,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
      */
     public CommandSwerveDrivetrain(
             SwerveDrivetrainConstants drivetrainConstants,
-        SwerveModuleConstants<?, ?, ?>... modules
+            SwerveModuleConstants<?, ?, ?>... modules) {
-    ) {
         super(drivetrainConstants, modules);
         if (Utils.isSimulation()) {
             startSimThread();
@@ -167,8 +172,10 @@ 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
+     * This constructs the underlying hardware devices, so users should not
-     * the devices themselves. If they need the devices, they can access them through
+     * 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
@@ -180,8 +187,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     public CommandSwerveDrivetrain(
             SwerveDrivetrainConstants drivetrainConstants,
             double odometryUpdateFrequency,
-        SwerveModuleConstants<?, ?, ?>... modules
+            SwerveModuleConstants<?, ?, ?>... modules) {
-    ) {
         super(drivetrainConstants, odometryUpdateFrequency, modules);
         if (Utils.isSimulation()) {
             startSimThread();
@@ -192,19 +198,27 @@ 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
+     * This constructs the underlying hardware devices, so users should not
-     * the devices themselves. If they need the devices, they can access them through
+     * 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
+     * @param odometryStandardDeviation The standard deviation for odometry
-     *                                  in the form [x, y, theta]ᵀ, with units in meters
+     *                                  calculation
+     *                                  in the form [x, y, theta]ᵀ, with units in
+     *                                  meters
      *                                  and radians
-     * @param visionStandardDeviation   The standard deviation for vision calculation
+     * @param visionStandardDeviation   The standard deviation for vision
-     *                                  in the form [x, y, theta]ᵀ, with units in meters
+     *                                  calculation
+     *                                  in the form [x, y, theta]ᵀ, with units in
+     *                                  meters
      *                                  and radians
      * @param modules                   Constants for each specific module
      */
@@ -213,9 +227,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
             double odometryUpdateFrequency,
             Matrix<N3, N1> odometryStandardDeviation,
             Matrix<N3, N1> visionStandardDeviation,
-        SwerveModuleConstants<?, ?, ?>... modules
+            SwerveModuleConstants<?, ?, ?>... modules) {
-    ) {
+        super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation,
-        super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation, modules);
+                modules);
         if (Utils.isSimulation()) {
             startSimThread();
         }
@@ -223,7 +237,8 @@ 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
@@ -231,44 +246,26 @@ 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.
+         * If we haven't applied the operator perspective before, then we should apply
-         * This allows us to correct the perspective in case the robot code restarts mid-match.
+         * it regardless of DS state.
-         * Otherwise, only check and apply the operator perspective if the DS is disabled.
+         * This allows us to correct the perspective in case the robot code restarts
-         * This ensures driving behavior doesn't change until an explicit disable event occurs during testing.
+         * 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
+                                : kBlueAlliancePerspectiveRotation);
-                );
                 m_hasAppliedOperatorPerspective = true;
             });
         }
@@ -290,11 +287,14 @@ 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 visionRobotPoseMeters The pose of the robot as measured by the vision
-     * @param timestampSeconds The timestamp of the vision measurement in seconds.
+     *                              camera.
+     * @param timestampSeconds      The timestamp of the vision measurement in
+     *                              seconds.
      */
     @Override
     public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
@@ -302,35 +302,74 @@ 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 visionRobotPoseMeters    The pose of the robot as measured by the
-     * @param timestampSeconds The timestamp of the vision measurement in seconds.
+     *                                 vision camera.
-     * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement
+     * @param timestampSeconds         The timestamp of the vision measurement in
-     *     in the form [x, y, theta]ᵀ, with units in meters and radians.
+     *                                 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
+            Matrix<N3, N1> visionMeasurementStdDevs) {
-    ) {
+        super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds),
-        super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds), visionMeasurementStdDevs);
+                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

@@ -0,0 +1,33 @@
+// 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

@@ -4,48 +4,76 @@
 
 package frc.robot.subsystems;
 
-import com.revrobotics.spark.SparkMax;
+import com.revrobotics.PersistMode;
-import com.revrobotics.spark.config.SparkMaxConfig;
+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 Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
+  SparkMax moteur1 = new SparkMax(3, MotorType.kBrushless);
-  SparkMax grimpeur2 = new SparkMax(12,MotorType.kBrushless);
+  SparkMax moteur2 = new SparkMax(12, MotorType.kBrushless);
-  SparkMaxConfig slaveConfig = new SparkMaxConfig();
+  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);
+
   DigitalInput limit = new DigitalInput(0);
-    private GenericEntry EncodeurGrimpeur =
+
-  teb.add("Position haut grimpeur", 100).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(100);
-  }
-  /** Creates a new Grimpeur. */
   public Grimpeur() {
-    teb.addDouble("encodeur grimpeur", this::Position);
+    teb.addDouble("encodeur grimpeur", encoder1::getPosition);
-    teb.addBoolean("limit grimpeur", this::Limit);
+    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());
   }
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    if (limit.get()) {
+      encoder1.setPosition(0);
+      encoder2.setPosition(0);
+    }
+
+    double newEncoderMax = ntEncodeurGrimpeur.getDouble(maxEncodeur);
+    if (newEncoderMax != maxEncodeur) {
+      maxEncodeur = newEncoderMax;
+      configMoteurs();
+    }
   }
 }

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

@@ -4,48 +4,71 @@
 
 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.SparkMax;
+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 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);
-  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){
+  RelativeEncoder encoder = moteur1.getEncoder();
-    moteur1.set(vitesse);
+
-    moteur2.set(vitesse);
+  GenericEntry vitesse = teb.add("vitesse lanceur", 4000).getEntry();
-  }
+  GenericEntry AmpLanceur = teb.add("ampérage lanceur", 30).getEntry();
-  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", this::Amp);
+    teb.addDouble("amperage lanceur", moteur1::getOutputCurrent);
-    teb.addDouble("vitesse actuelle",this::Vitesse);
+    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);
   }
 
   @Override
@@ -53,4 +76,3 @@ public class Lanceur extends SubsystemBase {
     // This method will be called once per scheduler run
   }
 }
-

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

@@ -1,61 +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 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)
-    {
-      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

@@ -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 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();
+    }
+  }
+}