From 5b2606140fdc61ba9a6fb8da71463a2c3a421790 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 15 Mar 2023 20:26:42 -0400
Subject: [PATCH 1/6] modif debug

---
 src/main/java/frc/robot/RobotContainer.java       | 15 ++++++++++-----
 src/main/java/frc/robot/commands/BrakeFerme.java  |  2 +-
 src/main/java/frc/robot/commands/BrakeOuvre.java  |  2 +-
 src/main/java/frc/robot/commands/Reculer.java     |  2 +-
 .../java/frc/robot/commands/bras/BrasManuel.java  |  5 ++++-
 .../java/frc/robot/commands/bras/FermePince.java  |  2 +-
 .../java/frc/robot/commands/bras/OuvrePince.java  |  2 +-
 .../frc/robot/commands/bras/PivotBrasRentre.java  |  4 ++--
 .../frc/robot/commands/bras/PivotChercheHaut.java |  4 ++--
 .../java/frc/robot/commands/bras/PivotManuel.java |  3 ++-
 .../frc/robot/commands/bras/PivoteBrasBas.java    |  7 ++++---
 .../frc/robot/commands/bras/PivoteBrasHaut.java   |  8 ++++----
 .../robot/commands/bras/PivoteBrasMilieux.java    | 13 +++++++------
 13 files changed, 40 insertions(+), 29 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9c42ffa..38fcbe5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -65,9 +65,9 @@ ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",Buil
 .withSize(2, 2).withProperties(Map.of("Label position","LEFT"));
 GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
 GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",0).getEntry();
-GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
-GenericEntry avancerdistance = layoutauto.addPersistent("avancer",0).getEntry();
+GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",-66).getEntry();
+GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
+GenericEntry avancerdistance = layoutauto.addPersistent("avancer",-35).getEntry();
 // subsystems
 BasePilotable basePilotable = new BasePilotable();
 Gratte gratte = new Gratte();
@@ -133,13 +133,14 @@ public RobotContainer() {
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
     manette2.a().whileTrue(gratteMonte);
     manette2.b().whileTrue(gratteBaisser);
+    manette2.back().onTrue(new InstantCommand(basePilotable::Reset));
 
   }
 
   public Command getAutonomousCommand() {
     chooser.getSelected();
     autobalance.getBoolean(true);
-    return new SequentialCommandGroup(
+    return Commands.waitSeconds(14).deadlineWith( new SequentialCommandGroup(
       Commands.select(Map.ofEntries(
         Map.entry(enhaut,pivoteBrasHaut),
         Map.entry(aumilieux,pivoteBrasMilieux),
@@ -147,10 +148,14 @@ public RobotContainer() {
         Map.entry(nulpart,pivotBrasRentre)
       ), chooser::getSelected),
       ouvrePince.unless(()->chooser.getSelected().equals(nulpart)),
+      Commands.waitSeconds(1),
+      fermePince.unless(()->chooser.getSelected().equals(nulpart)),
+      new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
+      Commands.waitSeconds(1),
       Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
       avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
       Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
-    ).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);
+    )).andThen(brakeOuvre);
 
 
   }
diff --git a/src/main/java/frc/robot/commands/BrakeFerme.java b/src/main/java/frc/robot/commands/BrakeFerme.java
index cd2be53..4e8fa49 100644
--- a/src/main/java/frc/robot/commands/BrakeFerme.java
+++ b/src/main/java/frc/robot/commands/BrakeFerme.java
@@ -37,6 +37,6 @@ public class BrakeFerme extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true;
   }
 }
diff --git a/src/main/java/frc/robot/commands/BrakeOuvre.java b/src/main/java/frc/robot/commands/BrakeOuvre.java
index 96b0997..9ec5eb8 100644
--- a/src/main/java/frc/robot/commands/BrakeOuvre.java
+++ b/src/main/java/frc/robot/commands/BrakeOuvre.java
@@ -37,6 +37,6 @@ public class BrakeOuvre extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true;
   }
 }
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index e9d245b..b19b241 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -30,7 +30,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(-0.3,0);
+    basePilotable.drive(-0.5,0);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/bras/BrasManuel.java b/src/main/java/frc/robot/commands/bras/BrasManuel.java
index 36b3535..b930d31 100644
--- a/src/main/java/frc/robot/commands/bras/BrasManuel.java
+++ b/src/main/java/frc/robot/commands/bras/BrasManuel.java
@@ -29,7 +29,10 @@ public class BrasManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
+    if(doubleSupplier.getAsDouble()>0.2 && doubleSupplier.getAsDouble()<-0.2){
+      brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
+    }
+   
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/bras/FermePince.java b/src/main/java/frc/robot/commands/bras/FermePince.java
index 609d44d..947a606 100644
--- a/src/main/java/frc/robot/commands/bras/FermePince.java
+++ b/src/main/java/frc/robot/commands/bras/FermePince.java
@@ -33,6 +33,6 @@ public class FermePince extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true;
   }
 }
diff --git a/src/main/java/frc/robot/commands/bras/OuvrePince.java b/src/main/java/frc/robot/commands/bras/OuvrePince.java
index 2ad46c5..4f439e1 100644
--- a/src/main/java/frc/robot/commands/bras/OuvrePince.java
+++ b/src/main/java/frc/robot/commands/bras/OuvrePince.java
@@ -33,6 +33,6 @@ public class OuvrePince extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return true;
   }
 }
diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
index b35f2a8..46e0c0f 100644
--- a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
+++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
@@ -42,7 +42,7 @@ public class PivotBrasRentre extends CommandBase {
       pivot.monteDescendre(0);
     }
     else{
-      pivot.monteDescendre(-0.3);
+      pivot.monteDescendre(-0.5);
     }
   }
   
@@ -57,6 +57,6 @@ public class PivotBrasRentre extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.photocell() && pivot.limitpivot();
   }
 }
diff --git a/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java b/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
index bd77d22..19bfcac 100644
--- a/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
+++ b/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
@@ -38,10 +38,10 @@ public class PivotChercheHaut extends CommandBase {
       brasTelescopique.AvanceRecule(0.3);
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.4);
+      pivot.monteDescendre(0.5);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.4);
+      pivot.monteDescendre(-0.5);
     }
     else{
       pivot.monteDescendre(0);
diff --git a/src/main/java/frc/robot/commands/bras/PivotManuel.java b/src/main/java/frc/robot/commands/bras/PivotManuel.java
index 53576af..375ce9c 100644
--- a/src/main/java/frc/robot/commands/bras/PivotManuel.java
+++ b/src/main/java/frc/robot/commands/bras/PivotManuel.java
@@ -27,7 +27,8 @@ public class PivotManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pivot.monteDescendre(doubleSupplier.getAsDouble());
+    if(doubleSupplier.getAsDouble()>0.2 && doubleSupplier.getAsDouble()<-0.2){
+      pivot.monteDescendre(doubleSupplier.getAsDouble());}
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
index 4634d75..130619b 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
@@ -43,10 +43,10 @@ public class PivoteBrasBas extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<8.5){
-      pivot.monteDescendre(0.3);
+      pivot.monteDescendre(0.4);
     }
     else if(pivot.distance()>10.5) {
-      pivot.monteDescendre(-0.3);
+      pivot.monteDescendre(-0.4);
     }
     else{
       pivot.monteDescendre(0);
@@ -65,6 +65,7 @@ public class PivoteBrasBas extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-15.5 && pivot.distance()<8.5 && pivot.distance()>10.5;
+
   }
 }
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
index cf41d39..c670121 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
@@ -33,7 +33,7 @@ public class PivoteBrasHaut extends CommandBase {
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<41.5) {
+  else if(brasTelescopique.distance()<-41.5) {
     brasTelescopique.AvanceRecule(-0.15);
     }
     else {
@@ -41,10 +41,10 @@ public class PivoteBrasHaut extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<50.5){
-      pivot.monteDescendre(0.4);
+      pivot.monteDescendre(0.5);
     }
     else if(pivot.distance()>52.5) {
-      pivot.monteDescendre(-0.4);
+      pivot.monteDescendre(-0.5);
     }
     else{
       pivot.monteDescendre(0);
@@ -62,6 +62,6 @@ public class PivoteBrasHaut extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.distance()>-39.5 && brasTelescopique.distance() <-41.5 && pivot.distance()<50.5 && pivot.distance()>52.5;
   }
 }
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index f5abb78..764050b 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -30,21 +30,21 @@ public class PivoteBrasMilieux extends CommandBase {
   @Override
   public void execute() {
     if(brasTelescopique.distance()>-16.5){
-      brasTelescopique.AvanceRecule(-0.2);
+      brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
   else if(brasTelescopique.distance()<-17.5) {
-    brasTelescopique.AvanceRecule(0.2);
+    brasTelescopique.AvanceRecule(0.15);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.4);
+      pivot.monteDescendre(0.6);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.4);
+      pivot.monteDescendre(-0.6);
     }
     else{
       pivot.monteDescendre(0);
@@ -63,6 +63,7 @@ public class PivoteBrasMilieux extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return brasTelescopique.distance()>-16.5 && brasTelescopique.distance() <-15.5 && pivot.distance()<44.5 && pivot.distance()>43.5;
+    } 
   }
-}
+

From ac95c28c451ae4600ea47c31eb5b6289d4bb5093 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Sat, 18 Mar 2023 09:44:08 -0400
Subject: [PATCH 2/6] tgfch

---
 src/main/java/frc/robot/RobotContainer.java                  | 5 +++--
 src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java | 4 ++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 38fcbe5..5eb7222 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -117,7 +117,8 @@ public RobotContainer() {
   private void configureBindings() {
     // manette 1
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
-    manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
+    manette1.x().onTrue(brakeOuvre);
+    manette1.b().onTrue(brakeFerme);
     manette1.leftBumper().toggleOnTrue(aprilTag);
     manette1.rightBumper().toggleOnTrue(tape);
     manette1.povUp().whileTrue(pivoteBrasHaut);
@@ -155,7 +156,7 @@ public RobotContainer() {
       Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
       avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
       Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
-    )).andThen(brakeOuvre);
+    )).andThen(new InstantCommand(basePilotable::BrakeOuvre));
 
 
   }
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index 764050b..8d80105 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -41,10 +41,10 @@ public class PivoteBrasMilieux extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.6);
+      pivot.monteDescendre(0.7);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.6);
+      pivot.monteDescendre(-0.7);
     }
     else{
       pivot.monteDescendre(0);

From c81d4cfbd1543aca2b88234a60ddde0b7427d589 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Sat, 18 Mar 2023 12:58:08 -0400
Subject: [PATCH 3/6] zdfgbg

---
 networktables.json                            | 27 ++++++++++++++++++-
 networktables.json.bck                        |  1 +
 src/main/java/frc/robot/RobotContainer.java   | 18 ++++++-------
 src/main/java/frc/robot/commands/Reculer.java |  2 +-
 .../robot/commands/bras/PivoteBrasBas.java    |  2 +-
 .../commands/bras/PivoteBrasMilieux.java      |  4 +--
 .../java/frc/robot/subsystems/Limelight.java  |  2 +-
 7 files changed, 41 insertions(+), 15 deletions(-)
 create mode 100644 networktables.json.bck

diff --git a/networktables.json b/networktables.json
index 8b13789..6cf6543 100644
--- a/networktables.json
+++ b/networktables.json
@@ -1 +1,26 @@
-
+[
+  {
+    "name": "/Shuffleboard/teb/auto/reculerdistancesortir",
+    "type": "double",
+    "value": -66.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/teb/auto/reculerdistancebalance",
+    "type": "double",
+    "value": -31.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Shuffleboard/teb/auto/avancer",
+    "type": "double",
+    "value": -35.0,
+    "properties": {
+      "persistent": true
+    }
+  }
+]
diff --git a/networktables.json.bck b/networktables.json.bck
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/networktables.json.bck
@@ -0,0 +1 @@
+
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5eb7222..2bbc6ca 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -93,9 +93,9 @@ Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0))
 Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
 PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
 PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
-Cube cube = new Cube(limelight, basePilotable, null);
-Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
-Tape tape = new Tape(limelight, basePilotable, null);
+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,manette2::getLeftX);
 BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
 
@@ -119,8 +119,8 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().onTrue(brakeOuvre);
     manette1.b().onTrue(brakeFerme);
-    manette1.leftBumper().toggleOnTrue(aprilTag);
-    manette1.rightBumper().toggleOnTrue(tape);
+    manette1.leftBumper().whileTrue(aprilTag);
+    manette1.rightBumper().whileTrue(tape);
     manette1.povUp().whileTrue(pivoteBrasHaut);
     manette1.povDown().whileTrue(pivoteBrasBas);
     manette1.povRight().whileTrue(pivoteBrasMilieux);
@@ -128,8 +128,8 @@ public RobotContainer() {
     //manette 2
     manette2.povDown().onTrue(pivotChercheBas);
     manette2.povUp().onTrue(pivotChercheHaut);
-    manette2.rightBumper().toggleOnTrue(cube);
-    manette2.leftBumper().toggleOnTrue(cone);
+    manette2.rightBumper().whileTrue(cube);
+    manette2.leftBumper().whileTrue(cone);
     manette2.y().whileTrue(gyro);
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
     manette2.a().whileTrue(gratteMonte);
@@ -154,9 +154,9 @@ public RobotContainer() {
       new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
       Commands.waitSeconds(1),
       Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
-      avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
+      avancer.unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)),
       Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
-    )).andThen(new InstantCommand(basePilotable::BrakeOuvre));
+    )).andThen(new InstantCommand(basePilotable::BrakeOuvre,basePilotable));
 
 
   }
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index b19b241..ecc904f 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -30,7 +30,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(-0.5,0);
+    basePilotable.drive(-0.4,0);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
index 130619b..a6015d7 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
@@ -65,7 +65,7 @@ public class PivoteBrasBas extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-15.5 && pivot.distance()<8.5 && pivot.distance()>10.5;
+    return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-14.5 && pivot.distance()<8.5 && pivot.distance()>9.5;
 
   }
 }
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index 8d80105..764050b 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -41,10 +41,10 @@ public class PivoteBrasMilieux extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.7);
+      pivot.monteDescendre(0.6);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.7);
+      pivot.monteDescendre(-0.6);
     }
     else{
       pivot.monteDescendre(0);
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index 7ed44b6..f6ff621 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -47,7 +47,7 @@ public class Limelight extends SubsystemBase {
   public double getYaw() {
     var result = limelight.getLatestResult();
     if(result.hasTargets()){
-    return  result.getBestTarget().getYaw();
+    return   -result.getBestTarget().getYaw()/60;
     }
     return 0;
   

From a34723f4cb3a2e08ad6b331a40ac15eb11450bbf Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Sat, 18 Mar 2023 14:19:52 -0400
Subject: [PATCH 4/6] hv v

---
 src/main/java/frc/robot/commands/GratteMonte.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java
index 553e5e0..0fd83fa 100644
--- a/src/main/java/frc/robot/commands/GratteMonte.java
+++ b/src/main/java/frc/robot/commands/GratteMonte.java
@@ -5,7 +5,6 @@
 package frc.robot.commands;
 
 
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 

From d1e82b747465239a22021c6be5d0a2d5048c04d8 Mon Sep 17 00:00:00 2001
From: Olivier Demers <olidem123@gmail.com>
Date: Mon, 20 Mar 2023 19:53:25 +0000
Subject: [PATCH 5/6] fixed mode manuel du bras

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

diff --git a/src/main/java/frc/robot/commands/bras/BrasManuel.java b/src/main/java/frc/robot/commands/bras/BrasManuel.java
index b930d31..844c681 100644
--- a/src/main/java/frc/robot/commands/bras/BrasManuel.java
+++ b/src/main/java/frc/robot/commands/bras/BrasManuel.java
@@ -29,7 +29,7 @@ public class BrasManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(doubleSupplier.getAsDouble()>0.2 && doubleSupplier.getAsDouble()<-0.2){
+    if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
       brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
     }
    
diff --git a/src/main/java/frc/robot/commands/bras/PivotManuel.java b/src/main/java/frc/robot/commands/bras/PivotManuel.java
index 375ce9c..32979d0 100644
--- a/src/main/java/frc/robot/commands/bras/PivotManuel.java
+++ b/src/main/java/frc/robot/commands/bras/PivotManuel.java
@@ -27,7 +27,7 @@ public class PivotManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(doubleSupplier.getAsDouble()>0.2 && doubleSupplier.getAsDouble()<-0.2){
+    if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
       pivot.monteDescendre(doubleSupplier.getAsDouble());}
   }
 

From 06bd854326998eb1f5a064b47310cc1acab8d158 Mon Sep 17 00:00:00 2001
From: Olivier Demers <olidem123@gmail.com>
Date: Mon, 20 Mar 2023 19:55:52 +0000
Subject: [PATCH 6/6] removed useless lines

---
 src/main/java/frc/robot/RobotContainer.java | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2bbc6ca..62f41f5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -139,8 +139,6 @@ public RobotContainer() {
   }
 
   public Command getAutonomousCommand() {
-    chooser.getSelected();
-    autobalance.getBoolean(true);
     return Commands.waitSeconds(14).deadlineWith( new SequentialCommandGroup(
       Commands.select(Map.ofEntries(
         Map.entry(enhaut,pivoteBrasHaut),