drxgfh

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;