From 3bd850a25e44577742e988cb3a8be5eb081cfc6f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 13 Feb 2023 19:19:52 -0500
Subject: [PATCH] sdfgh

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 2723 -> 3529 bytes
 .../frc/robot/subsystems/BasePilotable.java   |  13 +++++++++++--
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 62da180ab92df5046f4731453b0ea05b49873fdd..96315e44e0c344eeb149130e8f604a849648fba6 100644
GIT binary patch
literal 3529
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diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 312ba79..b5bfcb2 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -10,6 +10,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -24,7 +25,8 @@ public class BasePilotable extends SubsystemBase {
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
-
+  private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
+  private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   public double getpitch() {
     return gyroscope.getPitch();
   }
@@ -44,7 +46,14 @@ public class BasePilotable extends SubsystemBase {
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);
   }
-
+public void BrakeOuvre(){
+  brakedroit.set(Value.kForward);
+  brakegauche.set(Value.kForward);
+}
+public void BrakeFerme(){
+  brakedroit.set(Value.kReverse);
+  brakegauche.set(Value.kReverse);
+}
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);