From 9d15b3410b66e3db9e9d91f9089752e560b51f8e Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 13 Feb 2023 19:07:40 -0500
Subject: [PATCH] Gyroscope

---
 bin/main/frc/robot/commands/Gyro.class        | Bin 0 -> 1143 bytes
 .../robot/commands/bras/PivoteBrasBas.class   | Bin 654 -> 654 bytes
 .../frc/robot/subsystems/BasePilotable.class  | Bin 2815 -> 3152 bytes
 src/main/java/frc/robot/commands/Gyro.java    |  49 ++++++++++++++++++
 .../robot/commands/bras/PivoteBrasBas.java    |   1 -
 .../frc/robot/subsystems/BasePilotable.java   |   8 ++-
 6 files changed, 56 insertions(+), 2 deletions(-)
 create mode 100644 bin/main/frc/robot/commands/Gyro.class
 create mode 100644 src/main/java/frc/robot/commands/Gyro.java

diff --git a/bin/main/frc/robot/commands/Gyro.class b/bin/main/frc/robot/commands/Gyro.class
new file mode 100644
index 0000000000000000000000000000000000000000..9bfcf2711f26b9045d29087bf0d148eeee2d3c82
GIT binary patch
literal 1143
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HcmV?d00001

diff --git a/bin/main/frc/robot/commands/bras/PivoteBrasBas.class b/bin/main/frc/robot/commands/bras/PivoteBrasBas.class
index 811a3846b5a6d07949344e9c8ed4d8149347a6d8..cc119051502eed0dbefad9a307b14e78e04fe07e 100644
GIT binary patch
delta 37
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delta 37
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diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 0227c58a825056692defc46449986cc42015649b..c06d0b1b92ff937c38984c8034ba428cf2e66bbf 100644
GIT binary patch
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F^gq?$;C282

diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
new file mode 100644
index 0000000..ffc3a22
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class Gyro extends CommandBase {
+  private BasePilotable basePilotable;
+  /** Creates a new Gyro. */
+  public Gyro(BasePilotable basePilotable) {
+    this.basePilotable = basePilotable;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  if(basePilotable.getpitch()<15) 
+   { 
+    basePilotable.drive(0.2, 0, 0);
+   }
+   else if(basePilotable.getpitch()>-15) 
+   { 
+    basePilotable.drive(-0.2, 0, 0);
+   }
+   else
+   {
+     basvjePilotable.drive(0, 0, 0); 
+   }
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
index 03a1793..db26146 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
@@ -23,7 +23,6 @@ public class PivoteBrasBas extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {}
-
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 1fb04da..322f7a1 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -4,6 +4,7 @@
 
 package frc.robot.subsystems;
 
+import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
@@ -25,8 +26,13 @@ public class BasePilotable extends SubsystemBase {
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
 
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
+  private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
 
-  public void drive(double xSpeed, double zRotation){
+  public double getpitch() {
+    return gyroscope.getPitch();
+  }
+
+  public void drive(double xSpeed, double zRotation, int i){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){