From 8da3ff39b2de78ad36c0c63cc05dac56007bda91 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 12 Apr 2023 17:15:48 -0400
Subject: [PATCH] dhgvjb

---
 src/main/java/frc/robot/RobotContainer.java   | 15 ++++++++-------
 src/main/java/frc/robot/commands/Avancer.java |  1 +
 src/main/java/frc/robot/commands/Reculer.java |  2 +-
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4a6ba99..7273303 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -67,6 +68,7 @@ public class RobotContainer {
   GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", -66).getEntry();
   GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
   GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry();
+  GenericEntry avancerforce = layoutauto.addPersistent("avancerforce", 0.4).getEntry();
   // subsystems
   BasePilotable basePilotable = new BasePilotable();
   Gratte gratte = new Gratte();
@@ -148,17 +150,16 @@ public class RobotContainer {
         new SequentialCommandGroup(
             Commands.select(Map.ofEntries(
                 Map.entry(enhaut, creerCommandBras(51, -40)),
-                Map.entry(aumilieux, creerCommandBras(9, -14)),
-                Map.entry(enbas, creerCommandBras(44, -17)),
+                Map.entry(aumilieux, creerCommandBras(45, -13)),
+                Map.entry(enbas, creerCommandBras(12, -9)),
                 Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
-                creerCommandBras(49, -40).unless(() -> chooser.getSelected().equals(enhaut)),
-               creerCommandBras(51, -40).unless(() -> chooser.getSelected().equals(enhaut)),
+                //creerCommandBras(50, -40).unless(() -> !chooser.getSelected().equals(enhaut)),
+               //creerCommandBras(51, -40).unless(() -> !chooser.getSelected().equals(enhaut)),
             new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
             Commands.waitSeconds(1),
            new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
-            creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
-            Commands.waitSeconds(1),
-            Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true)),
+            new ParallelCommandGroup (creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
+            Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true))),
             new Avancer(basePilotable, () -> avancerdistance.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
             Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
         .andThen(brakeOuvre);
diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
index f7d37a1..c0cc3cf 100644
--- a/src/main/java/frc/robot/commands/Avancer.java
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -7,6 +7,7 @@ package frc.robot.commands;
 
 import java.util.function.DoubleSupplier;
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index 903b216..51e81b2 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(-0.4,0);
+    basePilotable.drive(-0.45,0);
   }
 
   // Called once the command ends or is interrupted.