From 99ce225dc62b77c9d29c823ee2284d1017e529eb Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Mar 2023 19:11:46 -0500
Subject: [PATCH] df

---
 .../frc/robot/subsystems/BasePilotable.java   | 37 ++++++++++---------
 1 file changed, 19 insertions(+), 18 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 9c1b909..cc90ca1 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -7,22 +7,25 @@ package frc.robot.subsystems;
 import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 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.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BasePilotable extends SubsystemBase {
-  final CANSparkMax avantd = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
+  final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
   final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
   final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
   final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);
-  final MotorControllerGroup droit = new MotorControllerGroup(avantd, arrieredroit);
+  final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
   
@@ -31,26 +34,35 @@ public class BasePilotable extends SubsystemBase {
   private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   //gyro
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+  .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
+  .withSize(2, 2);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
     return gyroscope.getPitch();
   }
 
-  public void drive(double xSpeed, double zRotation){
+  public void drive(double xSpeed, double zRotation, int i){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
-    return (-avantd.getEncoder().getPosition()
+    teb .add ("distance",0.1);
+    return (-avantdroit.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()
     -arrieredroit.getEncoder().getPosition()
     +arrieregauche.getEncoder().getPosition()) / 4;
   }
   public void Reset() {
-    avantd.getEncoder().setPosition(0);
+    avantdroit.getEncoder().setPosition(0);
     avantgauche.getEncoder().setPosition(0);
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);
   }
+  public void resetGyro(){
+    {gyroscope.reset();
+    }
+  } 
+
 public void BrakeOuvre(){
   brakedroit.set(Value.kForward);
   brakegauche.set(Value.kForward);
@@ -59,24 +71,13 @@ public void BrakeFerme(){
   brakedroit.set(Value.kReverse);
   brakegauche.set(Value.kReverse);
 }
-public void resetGyro(){
-  {gyroscope.reset();} 
- }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
-    teb .addDouble("distance", this::distance);
   }
 
   @Override
   public void periodic() {
-    //teb .add("encodeuravantdroit",0.1);
-    //teb .add("encodeurarrieregauche",0.1);
-    //teb .add("encodeurarrieredroit",0.1);
-    //teb .add("encodeuravantgauche",0.1);  
-    //teb .add("distance",0.1);
-    //teb .add("brakedroit",0.1);
-    //teb .add("brakegauche", 0.1);
-
+  
   }
-}
\ No newline at end of file
+}