From c26a26c577f7471d445d0732805899008c0fe27b Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 30 Nov 2023 20:33:43 -0500
Subject: [PATCH] changement

---
 src/main/deploy/swerve/controllerproperties.json   | 2 +-
 src/main/deploy/swerve/modules/backleft.json       | 2 +-
 src/main/deploy/swerve/modules/backright.json      | 2 +-
 src/main/deploy/swerve/modules/frontleft.json      | 4 ++--
 src/main/deploy/swerve/modules/frontright.json     | 4 ++--
 src/main/deploy/swerve/modules/pidfproperties.json | 2 +-
 src/main/java/frc/robot/RobotContainer.java        | 3 ++-
 7 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/src/main/deploy/swerve/controllerproperties.json b/src/main/deploy/swerve/controllerproperties.json
index 669097e..1c115ca 100644
--- a/src/main/deploy/swerve/controllerproperties.json
+++ b/src/main/deploy/swerve/controllerproperties.json
@@ -1,5 +1,5 @@
 {
-  "angleJoystickRadiusDeadband": 0.5,
+  "angleJoystickRadiusDeadband": 0.6,
   "heading": {
     "p": 0.4,
     "i": 0,
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index 71952f7..40325ab 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -21,6 +21,6 @@
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   }
 }
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index 4ebf07e..d1526d4 100644
--- a/src/main/deploy/swerve/modules/backright.json
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -21,6 +21,6 @@
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   }
 }
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index 2cc4e7a..8c8ecd3 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 5,
+    "id": 4,
     "canbus": null
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   }
 }
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index 96d3040..7a257d2 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -16,11 +16,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 4,
+    "id": 5,
     "canbus": null
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   }
 }
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/pidfproperties.json b/src/main/deploy/swerve/modules/pidfproperties.json
index 3834a36..f2faf26 100644
--- a/src/main/deploy/swerve/modules/pidfproperties.json
+++ b/src/main/deploy/swerve/modules/pidfproperties.json
@@ -7,7 +7,7 @@
     "iz": 0
   },
   "angle": {
-    "p": 0.0020645,
+    "p": 0.005,
     "i": 0,
     "d": 0,
     "f": 0,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index edcb98d..10d4801 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -51,7 +52,7 @@ public class RobotContainer {
     
     configureBindings();
     drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(-joystick1.getY(), -joystick1.getX(), -joystick1.getZ());
+     drive.drive(-joystick1.getY(), -joystick1.getX(), MathUtil.applyDeadband(-joystick1.getZ(), 0.2));
     },drive));
   }