From 9bb20dfccd709ded8893d8a02a02f2b6fc5d6e11 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 21 Nov 2022 18:28:50 -0500
Subject: [PATCH 1/2] Basepilotable gyroscope

---
 src/main/java/frc/robot/subsystems/BasePilotable.java | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 156cc09..b39f27b 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -5,6 +5,7 @@
 package frc.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.kauailabs.navx.frc.AHRS;
 
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -23,8 +24,12 @@ private WPI_TalonSRX arriereDroit = new WPI_TalonSRX(Constants.MoteurArriereDroi
 
 private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
 
-private void drive(double y, double x, double rot){
-  mecanum.driveCartesian(y, x, rot, 0);
+private AHRS gyroscope = new AHRS();
+public double getangle() {
+  return gyroscope.getAngle();
+}
+public void drive(double y, double x, double rot){
+  mecanum.driveCartesian(y, x, rot, getangle());
 }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
@@ -36,4 +41,5 @@ private void drive(double y, double x, double rot){
   public void periodic() {
     // This method will be called once per scheduler run
   }
+  
 }

From e6b48545ab22f48cb457d4c37c33c0a3c7eba219 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 21 Nov 2022 18:47:13 -0500
Subject: [PATCH 2/2] Robot peut bouger

---
 src/main/java/frc/robot/RobotContainer.java | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a1966a9..8ecee90 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,8 @@ import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import frc.robot.subsystems.BasePilotable;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -17,12 +19,19 @@ import edu.wpi.first.wpilibj2.command.Command;
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
-
-
+  XboxController manette = new XboxController(0);
+  
+  BasePilotable basePilotable = new BasePilotable();
+  
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
+
+    basePilotable.setDefaultCommand(
+      new RunCommand(
+        ()-> basePilotable.drive(manette.getLeftY(), manette.getLeftX(), manette.getLeftTriggerAxis()-manette.getRightTriggerAxis()), basePilotable)
+    );
   }
 
   /**