From 6c93d58f0998852492a7f2392d4738ea0d389355 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 10 Jan 2024 19:03:59 -0500
Subject: [PATCH] dgfbcg

---
 src/main/java/frc/robot/RobotContainer.java       |  1 -
 src/main/java/frc/robot/commands/Avancer.java     |  8 +++-----
 src/main/java/frc/robot/commands/Force1.java      |  2 +-
 src/main/java/frc/robot/commands/LanceurAuto.java |  2 +-
 src/main/java/frc/robot/subsystems/Drive.java     | 12 +-----------
 5 files changed, 6 insertions(+), 19 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ce14323..1a7439c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -31,7 +31,6 @@ import frc.robot.commands.Force5;
 import frc.robot.commands.Force6;
 import frc.robot.commands.Force7;
 import frc.robot.commands.LanceurAuto;
-import frc.robot.commands.Force1;
 import frc.robot.commands.AvancerGauche;
 import frc.robot.commands.accumulateurtest;
 import frc.robot.subsystems.Accumulateur;
diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
index 8701962..d1d3887 100644
--- a/src/main/java/frc/robot/commands/Avancer.java
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -38,18 +38,16 @@ public class Avancer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-   drive.drive(0.5, 0.2, 0);
+   drive.drive(0.5, -0.2, 0);
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-    drive.drive(0, 0, 0);
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return drive.distance()[0].distanceMeters>0.01;
+    return drive.distance()[0].distanceMeters>1;
   }
 }
diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java
index 4a8e3d7..030dee6 100644
--- a/src/main/java/frc/robot/commands/Force1.java
+++ b/src/main/java/frc/robot/commands/Force1.java
@@ -31,7 +31,7 @@ public class Force1 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(0.3);
+    lanceur.lancer(0.33);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/LanceurAuto.java b/src/main/java/frc/robot/commands/LanceurAuto.java
index 843e131..f90f116 100644
--- a/src/main/java/frc/robot/commands/LanceurAuto.java
+++ b/src/main/java/frc/robot/commands/LanceurAuto.java
@@ -24,7 +24,7 @@ public class LanceurAuto extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(0.75);
+    lanceur.lancer(0.755);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 5b8b66a..088ca3b 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -7,25 +7,15 @@ package frc.robot.subsystems;
 import java.io.File;
 import java.io.IOException;
 
-import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
-import edu.wpi.first.wpilibj.Filesystem;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Constants;
 import swervelib.SwerveDrive;
-import swervelib.encoders.CanAndCoderSwerve;
 import swervelib.parser.SwerveParser;
 
 public class Drive extends SubsystemBase {
@@ -49,7 +39,7 @@ public class Drive extends SubsystemBase {
   final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle); 
   final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
   public void drive(double x, double y, double zRotation){
-    swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
+    swerveDrive.drive(new Translation2d(x, y), zRotation, true, false);
   }