src/main/java/frc/robot/Constants.java

@@ -17,8 +17,8 @@ package frc.robot;
 public final class Constants {
     public static final int MoteurAvantGauche = (3);
     public static final int MoteurAvantDroit = (4);
-    public static final int MoteurArriereGauche = (2);
-    public static final int MoteurArriereDroit = (1);
+    public static final int MoteurArriereGauche = (1);
+    public static final int MoteurArriereDroit = (2);
 
     public static final int PistonPousserR = 0;
     public static final int PistonPousserF = 1;

src/main/java/frc/robot/RobotContainer.java

@@ -3,7 +3,6 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -11,6 +10,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 // subsystems
 import frc.robot.subsystems.BasePilotable;
@@ -20,6 +20,9 @@ import frc.robot.subsystems.Pistonshaker;
 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.TournerDroite;
+import frc.robot.commands.TournerGauche;
 import frc.robot.commands.Activershaker;
 import frc.robot.commands.Avancer;
 import frc.robot.commands.BoutonA;
@@ -46,16 +49,12 @@ public class RobotContainer {
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-    CameraServer.startAutomaticCapture();
-    SmartDashboard.putNumber("AvancerVit", -0.3);
-    SmartDashboard.putNumber("avancer", 2.71);
-
     // Configure the button bindings
     configureButtonBindings();
 
     basePilotable.setDefaultCommand(
       new RunCommand(
-        ()-> basePilotable.drive(-manette.getLeftY(), manette.getLeftX(), -manette.getLeftTriggerAxis()+manette.getRightTriggerAxis()), basePilotable)
+        ()-> basePilotable.drive(manette.getLeftY(), manette.getLeftX(), manette.getLeftTriggerAxis()-manette.getRightTriggerAxis()), basePilotable)
     );
   }
 

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

@@ -21,7 +21,7 @@ public class ActiverBlockeur extends CommandBase {
   @Override
   public void initialize() {
 
-    poussoir.bloquer();
+    poussoir.debloque();
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -31,7 +31,7 @@ public double getangle() {
   return gyroscope.getAngle();
 }
 public void drive(double y, double x, double rot){
-  mecanum.driveCartesian(y, x, rot, getangle());
+  mecanum.driveCartesian(y, rot, -x, 0);
 }
 public void resetgyro(){
 try {    gyroscope.reset();  } catch( Exception e) {DriverStation.reportError("bye bye", true);  }

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

@@ -15,7 +15,7 @@ public class Poussoir extends SubsystemBase {
   private DoubleSolenoid bloqueur = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonBloqueurR,Constants.pistonBloqueurF);
   
   /** Creates a new Poussoir. */
-  public Poussoir() { bloquer();
+  public Poussoir() {
     
   }