From 92c1c59599dd97ecf5e2cd1f87c5205a5df8154b Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 3 Dec 2025 17:57:22 -0500
Subject: [PATCH]

---
 .../deploy/pathplanner/paths/New Path.path    | 10 +++++-----
 .../subsystems/CommandSwerveDrivetrain.java   | 19 +++++++++++--------
 2 files changed, 16 insertions(+), 13 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
index 601f47e..d23e318 100644
--- a/src/main/deploy/pathplanner/paths/New Path.path	
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 16.243499999999997,
+        "x": 16.243,
         "y": 6.55025
       },
       "prevControl": null,
       "nextControl": {
-        "x": 15.18625440479427,
-        "y": 6.55025
+        "x": 15.354412756981612,
+        "y": 6.548572497113415
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 6.55025
       },
       "prevControl": {
-        "x": 2.34525,
-        "y": 6.55025
+        "x": 2.306674365666888,
+        "y": 6.526815183428469
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 373a09e..0e8cf01 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -10,6 +10,7 @@ import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 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.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
@@ -44,12 +45,13 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
     private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
     private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-
+    public void resetPose(Pose2d newPose) {
+        getState().Pose = newPose; // ou appelle setPose(newPose) selon ton code
+    }//ca marche pas
     private void configureAutoBuilder() {
         try {
             var config = RobotConfig.fromGUISettings();
-            AutoBuilder.configure(
-                
+            AutoBuilder.configure(  
                 () -> getState().Pose,   // Supplier of current robot pose
                 this::resetPose,         // Consumer for seeding pose against auto
                 () -> getState().Speeds, // Supplier of current robot speeds
@@ -77,10 +79,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         } catch (Exception ex) {
             DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
         }
-         PPHolonomicDriveController.overrideRotationFeedback(()->{
-            return 0;
-         });  
+          PPHolonomicDriveController.overrideRotationFeedback(()->{
+             return 0;
+          });  
         }
+        
 
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -125,7 +128,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-     //   configureAutoBuilder();
+     configureAutoBuilder();
     }
 
     /**
@@ -158,7 +161,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        //configureAutoBuilder();
+        configureAutoBuilder();
     }