drxgfh

src/main/java/frc/robot/RobotContainer.java

@@ -87,7 +87,7 @@ public class RobotContainer {
   Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0));
   Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
   Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
-  Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
+  Tape tape = new Tape(limelight, basePilotable, () -> -manette1.getLeftY());
   PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getRightY);
   BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getRightX);
   ActiverLimeLight activerLimeLight = new ActiverLimeLight(limelight);
@@ -110,8 +110,8 @@ public class RobotContainer {
   private void configureBindings() {
     // manette 1
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
-    manette1.x().onTrue(brakeOuvre);
-    manette1.b().onTrue(brakeFerme);
+    manette1.b().whileTrue(gratteMonte);
+    manette1.x().whileTrue(gratteBaisser);
     manette1.leftBumper().whileTrue(aprilTag);
     manette1.rightBumper().whileTrue(tape);
     manette1.povUp().whileTrue(creerCommandBras(51, -37));
@@ -122,12 +122,10 @@ public class RobotContainer {
     //manette 2
     manette2.povDown().whileTrue(creerCommandBras(5, -12));
     manette2.povUp().whileTrue(creerCommandBras(44, 0));
-    manette2.rightBumper().whileTrue(cube);
-    manette2.leftBumper().whileTrue(cone);
     manette2.y().whileTrue(gyro);
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
-    manette2.a().whileTrue(gratteMonte);
-    manette2.b().whileTrue(gratteBaisser);
+    manette2.a().onTrue(brakeOuvre);
+    manette2.b().onTrue(brakeFerme);
   }
 
   private Command creerCommandBras(double distancePivot, double distanceBras) {

src/main/java/frc/robot/commands/Apriltag.java

@@ -32,7 +32,7 @@ public class Apriltag extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(),false);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Tape.java

@@ -32,7 +32,7 @@ public class Tape extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(),false);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
+import frc.robot.commands.bras.Bougerbras;
 
 public class BasePilotable extends SubsystemBase {
   final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
@@ -42,6 +43,9 @@ public class BasePilotable extends SubsystemBase {
   public void drive(double xSpeed, double zRotation){
     drive.arcadeDrive(xSpeed, zRotation);
   }
+  public void drive(double xSpeed, double zRotation, boolean square){
+    drive.arcadeDrive(xSpeed, zRotation, square);
+  }
   public double distance(){
     return (-avantdroit.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()

src/main/java/frc/robot/subsystems/Limelight.java

@@ -41,12 +41,13 @@ public class Limelight extends SubsystemBase {
   public void tape() {
     limelight.setLED(VisionLEDMode.kOn);
     limelight.setPipelineIndex(1);
+
   }
 
   public double getYaw() {
     var result = limelight.getLatestResult();
     if(result.hasTargets()){
-    return   -result.getBestTarget().getYaw()/30;
+    return   -result.getBestTarget().getYaw()/45;
     }
     return 0;