From 76db95987428fe8fa9059cc1d67ea877902c8dd4 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 6 Dec 2023 18:01:21 -0500
Subject: [PATCH] gfhgvbm

---
 src/main/java/frc/robot/RobotContainer.java   | 28 ++++++++++++++-----
 .../{Reculer.java => AvancerGauche.java}      | 14 +++++-----
 2 files changed, 28 insertions(+), 14 deletions(-)
 rename src/main/java/frc/robot/commands/{Reculer.java => AvancerGauche.java} (84%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f3ed18d..ce14323 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,6 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+import java.util.Map;
+
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.networktables.GenericEntry;
@@ -10,6 +12,7 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
@@ -29,18 +32,23 @@ import frc.robot.commands.Force6;
 import frc.robot.commands.Force7;
 import frc.robot.commands.LanceurAuto;
 import frc.robot.commands.Force1;
-import frc.robot.commands.Reculer;
+import frc.robot.commands.AvancerGauche;
 import frc.robot.commands.accumulateurtest;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Lanceur;
 
 public class RobotContainer {
+  
+String avancergaucheString = "avancergaucheString";
+String avancerautoString = "avancerautoString";
+  ShuffleboardLayout layoutauto = Shuffleboard.getTab("Dashboard").getLayout("auto", BuiltInLayouts.kList);
+  SendableChooser<String> chooser = new SendableChooser<>();
   Lanceur lanceur = new Lanceur();
   Accumulateur accumulateur = new Accumulateur();
   Drive drive = new Drive();
   Avancer avancer = new Avancer(drive);
-  
+ AvancerGauche avancerGauche = new AvancerGauche(drive);
 
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
@@ -67,7 +75,9 @@ public class RobotContainer {
   }
   
   private void configureBindings() {
-
+    chooser.addOption(avancerautoString, avancerautoString);
+    chooser.addOption(avancergaucheString, avancergaucheString);
+    layoutauto.add("choix hauteur", chooser);
   accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
   Force1 Force1 = new Force1(lanceur, force1);
   Force2 Force2 = new Force2(lanceur, force2);
@@ -91,10 +101,14 @@ public class RobotContainer {
   
  
   public Command getAutonomousCommand() {
-    return Commands.deadline(Commands.waitSeconds(12)
-    ,new SequentialCommandGroup(new ParallelCommandGroup(new LanceurAuto(lanceur).withTimeout(6)
-    ,new AccAuto(accumulateur).withTimeout(6))
-    )).andThen(avancer);
+    chooser.getSelected();
+    return new SequentialCommandGroup(new ParallelCommandGroup(new LanceurAuto(lanceur).withTimeout(6)
+    ,new AccAuto(accumulateur).withTimeout(6)), Commands.waitSeconds(6), 
+    Commands.select(Map.ofEntries(
+      Map.entry(avancerautoString,avancer),
+    	Map.entry(avancergaucheString, avancerGauche)
+    ), chooser::getSelected)
+    );
   }
 }
 
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/AvancerGauche.java
similarity index 84%
rename from src/main/java/frc/robot/commands/Reculer.java
rename to src/main/java/frc/robot/commands/AvancerGauche.java
index 9571c64..671bb93 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/AvancerGauche.java
@@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Drive;
 
-public class Reculer extends CommandBase {
+public class AvancerGauche extends CommandBase {
   private Drive drive;
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
@@ -19,11 +19,11 @@ public class Reculer extends CommandBase {
   .withSize(1, 4)
    .withPosition(6,0);
   /** Creates a new Reculer. */
-  public Reculer(Drive drive) {
-    reculer.add("vitesse x", 1);
-    reculer.add("vitesse y", 2);
-    reculer.add("vitesse z", 3);
-    reculer.add("distance", 4);
+  public AvancerGauche(Drive drive) {
+   // reculer.add("vitesse x", 1);
+    //reculer.add("vitesse y", 2);
+    //reculer.add("vitesse z", 3);
+    //reculer.add("distance", 4);
     this.drive = drive;
     addRequirements(drive);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -36,7 +36,7 @@ public class Reculer 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.