From 2a5d7a1d21f77fa17ab2cd772e7ad8abfaee1003 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Tue, 29 Nov 2022 20:45:47 -0500
Subject: [PATCH] allo

---
 src/main/java/frc/robot/RobotContainer.java           | 3 +--
 src/main/java/frc/robot/subsystems/BasePilotable.java | 7 +++++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 18f6065..9a16371 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,7 +20,6 @@ import frc.robot.commands.Activer_poussoir;
 import frc.robot.commands.ActiverBlockeur;
 import frc.robot.commands.DesactiverBlockeur;
 import frc.robot.commands.Reculer;
-import frc.robot.commands.ResetGyro;
 import frc.robot.commands.TournerDroite;
 import frc.robot.commands.TournerGauche;
 import frc.robot.commands.Activershaker;
@@ -66,7 +65,7 @@ public class RobotContainer {
    */
   private void configureButtonBindings() {
     JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value);
-    buttonA.whileHeld(BoutonA);
+    buttonA.whileHeld(new);
     JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value);
     rightbumper.whileHeld(Activershaker);
     JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value);
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 9a85098..2994d77 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -9,6 +9,7 @@ import com.kauailabs.navx.frc.AHRS;
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -30,21 +31,23 @@ public double getangle() {
   return gyroscope.getAngle();
 }
 public void drive(double y, double x, double rot){
-  mecanum.driveCartesian(y, rot, x, -getangle());
+  mecanum.driveCartesian(y, rot, -x, 0);
 }
 public void resetgyro(){
-try {    gyroscope.reset();  } catch( Exception e) {DriverStation.reportError(e.getMessage(), true);  }
+try {    gyroscope.reset();  } catch( Exception e) {DriverStation.reportError("bye bye", true);  }
 }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     avantDroit.setInverted(true);
     arriereDroit.setInverted(true);
     mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
+    mecanum.setDeadband(0.1);
   }
    
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    SmartDashboard.putNumber("angle gyro" , getangle());
   }
   
 }