From 25a11282e5c06b90a6fa56de914ace7e1939df1b Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Mon, 20 Mar 2023 19:17:21 -0400
Subject: [PATCH] sdfg

---
 src/main/java/frc/robot/RobotContainer.java               | 8 ++++----
 src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 908d820..151c2cf 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -88,8 +88,8 @@ public class RobotContainer {
   Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
   Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
   Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
-  PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getLeftY);
-  BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getLeftX);
+  PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getRightY);
+  BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getRightX);
 
   public RobotContainer() {
     chooser.addOption(enhaut, enhaut);
@@ -118,8 +118,8 @@ public class RobotContainer {
     manette1.povRight().whileTrue(creerCommandBras(44, -17));
     manette1.povLeft().whileTrue(creerCommandBras(0, 0));
     // manette 2
-    manette2.povDown().onTrue(creerCommandBras(9, -18));
-    manette2.povUp().onTrue(creerCommandBras(44, 0));
+    manette2.povDown().whileTrue(creerCommandBras(9, -18));
+    manette2.povUp().whileTrue(creerCommandBras(44, 0));
     manette2.rightBumper().whileTrue(cube);
     manette2.leftBumper().whileTrue(cone);
     manette2.y().whileTrue(gyro);
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
index c670121..831991a 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
@@ -29,21 +29,21 @@ public class PivoteBrasHaut extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-39.5){
+    if(brasTelescopique.distance()>-36.5){
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-41.5) {
+  else if(brasTelescopique.distance()<-37.5) {
     brasTelescopique.AvanceRecule(-0.15);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<50.5){
+    if (pivot.distance()<52.5){
       pivot.monteDescendre(0.5);
     }
-    else if(pivot.distance()>52.5) {
+    else if(pivot.distance()>53.5) {
       pivot.monteDescendre(-0.5);
     }
     else{