From 59a7c30154c26e1efcd213391b182961d70f8e74 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Thu, 13 Apr 2023 18:25:05 -0400
Subject: [PATCH] fhcgjvhbm,

---
 src/main/java/frc/robot/RobotContainer.java         |  8 ++------
 .../java/frc/robot/commands/bras/Bougerbras.java    | 13 ++++---------
 .../java/frc/robot/commands/bras/Bougerpivot.java   | 12 +++---------
 .../frc/robot/commands/bras/DescendrePivotBras.java |  8 +++-----
 .../frc/robot/commands/bras/MonterPivotBras.java    | 10 +++++-----
 5 files changed, 17 insertions(+), 34 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f39e5a9..62f6cad 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -61,10 +61,6 @@ public class RobotContainer {
   String aumilieux = "au milieux";
   String enbas = "en bas";
   String nulpart = "nul part";
-  GenericEntry forcebrasmonter = Shuffleboard.getTab("teb").addPersistent("force bras monter", 0.35).getEntry();
-  GenericEntry forcebrasdescendre = Shuffleboard.getTab("teb").addPersistent("force bras descendre", -0.35).getEntry();
-  GenericEntry forcepivotmonter = Shuffleboard.getTab("teb").addPersistent("force pivot monter", 0.5).getEntry();
-  GenericEntry forcepivotdescendre = Shuffleboard.getTab("teb").addPersistent("force pivot descendre", -0.5).getEntry();
   ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
       .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
   GenericEntry autobalance = layoutauto.add("choix balance", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
@@ -144,8 +140,8 @@ public class RobotContainer {
 
   private Command creerCommandBras(double distancePivot, double distanceBras) {
     return Commands.either(
-        new MonterPivotBras(brasTelescopique, pivot, distanceBras, distancePivot,forcebrasmonter,forcebrasdescendre,forcepivotmonter,forcepivotdescendre),
-        new DescendrePivotBras(brasTelescopique, pivot, distanceBras, distancePivot,forcebrasmonter,forcebrasdescendre,forcepivotmonter,forcepivotdescendre),
+        new MonterPivotBras(brasTelescopique, pivot, distanceBras, distancePivot),
+        new DescendrePivotBras(brasTelescopique, pivot, distanceBras, distancePivot),
         () -> pivot.distance() < distancePivot);
   }
 
diff --git a/src/main/java/frc/robot/commands/bras/Bougerbras.java b/src/main/java/frc/robot/commands/bras/Bougerbras.java
index 8a97404..8c658e0 100644
--- a/src/main/java/frc/robot/commands/bras/Bougerbras.java
+++ b/src/main/java/frc/robot/commands/bras/Bougerbras.java
@@ -4,8 +4,6 @@
 
 package frc.robot.commands.bras;
 
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.bras.BrasTelescopique;
 
@@ -13,14 +11,11 @@ public class Bougerbras extends CommandBase {
   /** Creates a new bougerbras. */
   double distance;
   BrasTelescopique brasTelescopique;
-  private GenericEntry forcebrasdescendre;
-  private GenericEntry forcebrasmonter;
   
-  public Bougerbras(BrasTelescopique brasTelescopique,double distance,GenericEntry forcebrasdescendre, GenericEntry forcebrasmonter) {
+  public Bougerbras(BrasTelescopique brasTelescopique,double distance) {
     this.brasTelescopique = brasTelescopique;
     this.distance = distance;
-    this.forcebrasdescendre = forcebrasdescendre;
-    this.forcebrasmonter = forcebrasmonter;
+
     addRequirements(brasTelescopique);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -35,11 +30,11 @@ public class Bougerbras extends CommandBase {
   @Override
   public void execute() {
     if(brasTelescopique.distance()>distance+0.5 ) {
-      brasTelescopique.AvanceRecule(forcebrasdescendre.getDouble(-0.35));
+      brasTelescopique.AvanceRecule(0.35);
       
     }
     else if(brasTelescopique.distance()<distance-0.5) {
-      brasTelescopique.AvanceRecule(forcebrasmonter.getDouble(0.35));
+      brasTelescopique.AvanceRecule(-0.35);
     }
     else {
       brasTelescopique.AvanceRecule(0);
diff --git a/src/main/java/frc/robot/commands/bras/Bougerpivot.java b/src/main/java/frc/robot/commands/bras/Bougerpivot.java
index 5b10cee..72ca330 100644
--- a/src/main/java/frc/robot/commands/bras/Bougerpivot.java
+++ b/src/main/java/frc/robot/commands/bras/Bougerpivot.java
@@ -4,8 +4,6 @@
 
 package frc.robot.commands.bras;
 
-import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.bras.Pivot;
 
@@ -13,13 +11,9 @@ public class Bougerpivot extends CommandBase {
   /** Creates a new Bougerpivot. */
   Pivot pivot;
   double distance;
- private GenericEntry forcepivotmonter;
- private GenericEntry forcepivotdescendre;
-  public Bougerpivot(Pivot pivot,double distance,GenericEntry forcepivotdescendre, GenericEntry forcepivotmonter) {
+  public Bougerpivot(Pivot pivot,double distance) {
     this.pivot = pivot;
     this.distance = distance;
-    this.forcepivotdescendre = forcepivotdescendre;
-    this.forcepivotmonter = forcepivotmonter;
     addRequirements(pivot);
     
     // Use addRequirements() here to declare subsystem dependencies.
@@ -33,10 +27,10 @@ public class Bougerpivot extends CommandBase {
   @Override
   public void execute() {
     if(pivot.distance()>distance+0.5 ) {
-      pivot.monteDescendre(forcepivotdescendre.getDouble(-0.5));
+      pivot.monteDescendre(0.5);
     }
     else if(pivot.distance()<distance-0.5) {
-      pivot.monteDescendre(forcepivotmonter.getDouble(0.5));
+      pivot.monteDescendre(-0.5);
     }
     else {
       pivot.monteDescendre(0);
diff --git a/src/main/java/frc/robot/commands/bras/DescendrePivotBras.java b/src/main/java/frc/robot/commands/bras/DescendrePivotBras.java
index 0ac069d..5b99546 100644
--- a/src/main/java/frc/robot/commands/bras/DescendrePivotBras.java
+++ b/src/main/java/frc/robot/commands/bras/DescendrePivotBras.java
@@ -4,8 +4,6 @@
 
 package frc.robot.commands.bras;
 
-
-import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.subsystems.bras.BrasTelescopique;
 import frc.robot.subsystems.bras.Pivot;
@@ -15,13 +13,13 @@ import frc.robot.subsystems.bras.Pivot;
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class DescendrePivotBras extends SequentialCommandGroup {
   /** Creates a new DescendrePivotBras. */
-  public DescendrePivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot,GenericEntry forcebrasmonter, GenericEntry forcebrasdescendre,GenericEntry forcepivotmonter,GenericEntry forcepivotdescendre ) { 
+  public DescendrePivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot) { 
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
       
-      new Bougerbras(brasTelescopique, distanceBras,forcebrasdescendre,forcebrasmonter),
-      new Bougerpivot(pivot, distancePivot,forcepivotdescendre,forcepivotmonter)
+      new Bougerbras(brasTelescopique, distanceBras),
+      new Bougerpivot(pivot, distancePivot)
       
     );
   }
diff --git a/src/main/java/frc/robot/commands/bras/MonterPivotBras.java b/src/main/java/frc/robot/commands/bras/MonterPivotBras.java
index 16f5439..db8e167 100644
--- a/src/main/java/frc/robot/commands/bras/MonterPivotBras.java
+++ b/src/main/java/frc/robot/commands/bras/MonterPivotBras.java
@@ -5,7 +5,7 @@
 package frc.robot.commands.bras;
 
 
-import edu.wpi.first.networktables.GenericEntry;
+
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.subsystems.bras.BrasTelescopique;
@@ -16,14 +16,14 @@ import frc.robot.subsystems.bras.Pivot;
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class MonterPivotBras extends SequentialCommandGroup {
   /** Creates a new Sequancepivotbras. */
-  public MonterPivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot,GenericEntry forcebrasmonter, GenericEntry forcebrasdescendre,GenericEntry forcepivotmonter,GenericEntry forcepivotdescendre) {
+  public MonterPivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot) {
 
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
-      new Bougerpivot(pivot, 10, forcepivotdescendre, forcepivotdescendre).unless(()->pivot.distance()>10),
-      new ParallelCommandGroup(new Bougerpivot(pivot, distancePivot,forcepivotdescendre,forcepivotmonter)),
-      new ParallelCommandGroup(new Bougerbras(brasTelescopique, distanceBras,forcebrasdescendre,forcebrasmonter))
+      new Bougerpivot(pivot, 10).unless(()->pivot.distance()>10),
+      new ParallelCommandGroup(new Bougerpivot(pivot, distancePivot)),
+      new ParallelCommandGroup(new Bougerbras(brasTelescopique, distanceBras))
       
       
     );