From e557d1bc6c0c3cd5da9a10e2bb6b28c8d07d02d5 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 22 Feb 2023 18:50:04 -0500
Subject: [PATCH 01/18] commitrewsedrtyygfdf

---
 .../java/frc/robot/subsystems/BasePilotable.java     |  4 +++-
 src/main/java/frc/robot/subsystems/Gratte.java       | 10 ++++++----
 src/main/java/frc/robot/subsystems/Limelight.java    |  5 ++++-
 .../frc/robot/subsystems/bras/BrasTelescopique.java  | 12 ++++--------
 src/main/java/frc/robot/subsystems/bras/Pince.java   |  6 ++++--
 src/main/java/frc/robot/subsystems/bras/Pivot.java   | 12 +++---------
 6 files changed, 24 insertions(+), 25 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 6ed4487..9a53bac 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -76,5 +76,7 @@ public void resetGyro(){
     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
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 4cefbae..0332f41 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -8,9 +8,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
@@ -44,9 +46,9 @@ public class Gratte extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("limithd",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limitbd",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limithg",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limitbg",0.1);
+    teb .add("limithd", 0.1);
+    teb .add("limithg", 0.1);
+    teb .add("limitbd", 0.1);
+    teb .add("limitbg", 0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index a17900b..5a4f7fc 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -6,6 +6,8 @@ package frc.robot.subsystems;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
 import org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
 import org.photonvision.targeting.PhotonTrackedTarget;
@@ -15,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
 public class Limelight extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
@@ -56,6 +59,6 @@ public class Limelight extends SubsystemBase {
   @Override
   public void periodic() {
     CameraServer.startAutomaticCapture();
-    Shuffleboard.getTab("SmartDashBoard") .add("limelight",0.1);
+    teb .add("limelight", 0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 08f983b..7334c0b 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -8,15 +8,14 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj.DigitalInput;
-=======
->>>>>>> Dash
 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;
 
 public class BrasTelescopique extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -35,10 +34,7 @@ public class BrasTelescopique extends SubsystemBase {
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
-    Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
-=======
-    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
->>>>>>> Dash
+    teb .add("``photocell``",0.1);
+    teb .add("winch",0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java
index 2aa6540..62022de 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pince.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pince.java
@@ -8,9 +8,12 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
-public class Pince extends SubsystemBase {
+
+public class Pince extends SubsystemBase{
   private DoubleSolenoid pistonPince = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
   /** Creates a new Pince. */
   public Pince() {
@@ -23,6 +26,5 @@ public class Pince extends SubsystemBase {
    }
   @Override
   public void periodic() {
-    
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index b2494d0..e4ea340 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -4,11 +4,9 @@
 
 package frc.robot.subsystems.bras;
 
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj.DigitalInput;
-=======
->>>>>>> Dash
 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;
 
@@ -16,6 +14,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -37,11 +36,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
-    Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
+    teb .add("encodeur", 0.1);
   }
-=======
-    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
- }
->>>>>>> Dash
 }

From 306e70101f13346b215304cd647cb54a4528b729 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 22 Feb 2023 18:53:57 -0500
Subject: [PATCH 02/18] hiuuujujujuuuuu

---
 .../frc/robot/subsystems/bras/BrasTelescopique.java    | 10 ++--------
 src/main/java/frc/robot/subsystems/bras/Pivot.java     | 10 +---------
 2 files changed, 3 insertions(+), 17 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 47ca244..94ed0f7 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -9,12 +9,9 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
-<<<<<<< HEAD
-=======
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
->>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -47,12 +44,9 @@ public class BrasTelescopique extends SubsystemBase {
     }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("``photocell``",0.1);
     teb .add("winch",0.1);
-=======
-    Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
->>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
   }
+
+  
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index 447e9cb..42f5ef3 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -36,14 +36,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("encodeur", 0.1);
   }
-}
-=======
-    Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
-  }
- }
-
->>>>>>> 2c79346ce98c80f71d749f5cfbe0025b5dedf77a
+}
\ No newline at end of file

From 4b22cac30fd2b3c5e7b1af3c7f890c4def2d21f7 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 22 Feb 2023 18:55:19 -0500
Subject: [PATCH 03/18] gfghk

---
 src/main/java/frc/robot/RobotContainer.java | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 20a459a..dd97cd1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -32,6 +32,12 @@ import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
+import frc.robot.commands.bras.PivotChercheBas;
+import frc.robot.commands.bras.PivotChercheHaut;
+import edu.wpi.first.apriltag.AprilTag;
+import frc.robot.commands.Cube;
+import frc.robot.commands.Cone;
+import frc.robot.commands.Tape;
 
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
@@ -69,8 +75,16 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
-    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
+    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
+    manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
+    manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
+    manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
+    manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
+    manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
+    manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
   }
 
   public Command getAutonomousCommand() {

From 4f075e615c4f8c33d3164acdcb33c21585a35d18 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 22 Feb 2023 19:08:17 -0500
Subject: [PATCH 04/18] hg

---
 src/main/java/frc/robot/RobotContainer.java           | 2 +-
 src/main/java/frc/robot/subsystems/BasePilotable.java | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 20a459a..d9ff154 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -69,7 +69,7 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
-    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
   }
 
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 6ed4487..5ec5abc 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -19,11 +19,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BasePilotable extends SubsystemBase {
-  final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
+  final CANSparkMax avantd = 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(avantdroit, arrieredroit);
+  final MotorControllerGroup droit = new MotorControllerGroup(avantd, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
   
@@ -41,13 +41,13 @@ public class BasePilotable extends SubsystemBase {
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
-    return (-avantdroit.getEncoder().getPosition()
+    return (-avantd.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()
     -arrieredroit.getEncoder().getPosition()
     +arrieregauche.getEncoder().getPosition()) / 4;
   }
   public void Reset() {
-    avantdroit.getEncoder().setPosition(0);
+    avantd.getEncoder().setPosition(0);
     avantgauche.getEncoder().setPosition(0);
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);

From 1862402ba070079422d5c100ecaefb9f4b6ca4d5 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 22 Feb 2023 19:10:42 -0500
Subject: [PATCH 05/18] jhgfd

---
 .../java/frc/robot/subsystems/bras/BrasTelescopique.java   | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 94ed0f7..09bc449 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -12,13 +12,18 @@ import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+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 BrasTelescopique extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  ShuffleboardLayout winch = Shuffleboard.getTab("teb")
+  .getLayout("winch", BuiltInLayouts.kList)
+  .withSize(2, 2);
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -47,6 +52,4 @@ public class BrasTelescopique extends SubsystemBase {
     teb .add("``photocell``",0.1);
     teb .add("winch",0.1);
   }
-
-  
 }

From e573024e4ba0c473935e45d1ba5c18544c06f7e1 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 22 Feb 2023 19:13:36 -0500
Subject: [PATCH 06/18] 45re

---
 .../java/frc/robot/subsystems/bras/BrasTelescopique.java    | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 09bc449..2d744a0 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -21,8 +21,8 @@ import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  ShuffleboardLayout winch = Shuffleboard.getTab("teb")
-  .getLayout("winch", BuiltInLayouts.kList)
+  ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+  .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
@@ -49,7 +49,7 @@ public class BrasTelescopique extends SubsystemBase {
     }
   @Override
   public void periodic() {
-    teb .add("``photocell``",0.1);
+    teb .add("photocell",0.1);
     teb .add("winch",0.1);
   }
 }

From ac593c7f31b99d2e435de3b86f5b309da799096b Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 22 Feb 2023 19:16:07 -0500
Subject: [PATCH 07/18] thgf

---
 src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 2d744a0..f606459 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -52,4 +52,4 @@ public class BrasTelescopique extends SubsystemBase {
     teb .add("photocell",0.1);
     teb .add("winch",0.1);
   }
-}
+}
\ No newline at end of file

From e0fdb52d4f9562550150d574a842f8d07c1d716b Mon Sep 17 00:00:00 2001
From: Olivier Demers <olidem123@gmail.com>
Date: Thu, 23 Feb 2023 15:44:07 +0000
Subject: [PATCH 08/18] fixed merge artifacts

---
 src/main/java/frc/robot/RobotContainer.java | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a68150c..5a4db6b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -75,10 +75,7 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
-<<<<<<< HEAD
     // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
-=======
->>>>>>> 4b22cac30fd2b3c5e7b1af3c7f890c4def2d21f7
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
     manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));

From 7dad4be45cd7c61dc33dea8141d92e7dd3a1562e Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 27 Feb 2023 19:43:14 -0500
Subject: [PATCH 09/18] commit

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 3529 -> 4602 bytes
 .../frc/robot/subsystems/BasePilotable.java   |   9 +++++----
 .../java/frc/robot/subsystems/Gratte.java     |  15 ++++++++++++---
 .../subsystems/bras/BrasTelescopique.java     |  10 +++++++++-
 .../java/frc/robot/subsystems/bras/Pivot.java |   6 ++++--
 5 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index a1ecf8d0e5dc7b0fe12ec67cf110faf2ead1688a..6df957728ed1e778f8670725a67dc68d0729bc7f 100644
GIT binary patch
literal 4602
zcmbVPX?q)26@JItSn?!w+@!=!)23}mWRYgDof1247F%ATMsAE1WZVK_B#rHfM>Aq(
zWXGXEp+G6ng|(#YE&EpL)^^g;5+0yH*_SVT=Og_KJiK>CTU;r%D_gqvp1J4T_pJBK
ztN(l9WdMiqFBuIIZkus3s$-{ZPjw4vcggkioU0CLu0COywx^{{T}G3H1A4ZgF6Iq&
z#&BFu%uFMFu1C$-xtwNY)ntiTuu2GP3!3F+9oz6E>`ri(>gWspIY!1+V}ti3^O`e1
zuALu{(B^NR)e4z8vMQS67`meunYR>|rN_-hdViuOA~k1wwv(|f&#_H)Tr6V2!qlBH
z$1db~U`v%SV}WO?b%bRdK30c~nHd7IJVP^w1%)EQX-AtcVcb`Teb_G0eo5QZE!)Tn
zO?|G?>5ZPAmT;&JvpZLqnKAXWtvNJr)#8kn7CM;Pl3k#64{w$~;WJW1Xm-i5-He^5
z1p*(<YX!|PwX~~R+QNBN#Kz#s$t3r-&g!0K&6?cW80i|8&=j+?dI%D3Qg8#_62{Hg
zBjXkcyM(jr2vTq>Is;*Yfw1cmhNa(A$fb3MdI|9z2|J^iDa|p&x=3vD<_uTD-ozV+
zYY}YT@G^4(RYXA-qQRjPg6L~7N()AYhvQu-p~D>twqR=*D!OI7o$K1MRVN%2^q^OS
zv6IoVx*s7Dnkl_2#Z%5F^SYjuAkk={3zN(#&#*174SwUql{H+NHsc#}KtVHF!Z?cK
zGL99EStoN8oWLL>k)9c`GW3Qc;r2+^>ym9!H+kfOUfeX$h8RX<5Y8>@^K#u*1*5`U
zZ9HMZb`61BSnH$$87*RVw}RGSmQWBvOUsFN))s!K|D^8f3{OT&N}M>UAc->+Mruiz
zgguer8h}Sq2_rq?IJQG)hKEF^oh~dmzJ;a~T!;1$rg5K)dnH6`yXxxH+ndtNg0A2_
zcrOh;KWaOR%qmv3I=NGedmxOn&}6)yVYrbq6{L}&{=OB|$YxFof|7W*p}k~)QQgVW
z0MnRLU<7JR>I=Ffs%^_%hGlri!f1r4;2b7Gu#lHwOSrz0Fsy?j&^%YfSYHSZJQ+-?
zJJv@*Rdr6-iwT}$?)59_nWa2I6|g{1^FvO-oilZp64ckl+%-kel1Fh~09}&M8;Ng{
zTUf`!2SpH43kx3-LFmsuB7(3_#z$EdYrE(TZwDC<O6b`<a~Kcc6GEj=N-*m=`&y?D
z+*c<;uE`Wc%BK{B(Iyh|(+U){i9+^S0p<}2^KS~wo5k`NJ}2Yxx>-44>4hANQN|s&
zvjtXnKcGI3FG!GMXC_A`V&nCbvKI4z2!Jn%lF%p8^9iB!S0r@TQ@W;%xPJ>+cv2)>
zUn@Go_&UBR;~R|Z+L2KAZdULue47c$ipiUcr81H@$L>Zod3UNw&oQjofv!5ntt(Vq
z_`<nQE9k)Wt@y5low{G~3y!-d&4z0a+p(Zo3*r0tp^P8U1{;7rR4`00ZUr3y>%x!l
zV^;3@1aBl}=0<Q{ErFT+Q#>Q%XLWPvT1qPTIi3}5iS7l6BwVOrzm32O_(gba-rU9h
zD2(T@BI9`pcW%Iv)eTx8K*1{3c-t%*-dxhSz%qR-!bsZ)`f6b@JD0aDHlKb7Tvo6h
zJ49P!ii-0K1ux;{;8KlSybV0jX*5Od6`e<GUUv*TYh+r{-*Wu&Me%tujNjlD8NZd#
zUJ1<Lx>N8w{GN%pAnwZ3GZJ=)%X$4S-^H&g_#^(r%T3Gjys27Fs_>mopVKqm2K`{<
z@}@pzWElhE?oZkUC!>!Veq(smTggFj0N)nkmZdu}Q*&M2mGO7BKpVKu7-Z!OjREg>
z2e_3f*2vyPLAz+eIBOSujz6-?@kjPJ{>XCck1V$S$nKG2gJ@0skry{dh<x=&I*nt4
z=#)8%WZsER{@%z{59t!e*68!twTj)(_&aaoZ;MZl;C9ZHU=Q}<tz1diSLW|6@`nQc
z{g12{5UmmrDht?xw^57$kSeMhrho(cyH;`VSyCGyAcQ#r2MJmAr9{!>Qv(>{`61lt
zLkr^_oCyPl`F7bynG*WTARi>3P_mzA99hL(moX$^k&Cg?BEv<zw3y}MRB4gfj&Zx9
z)INd%y4kV!P<%I4=%qEfv7b<SIUeHQVU886^_P`CjftYtE}>Qf+Iku9Y{XO%QDr3{
zRaOF1aaFO=4b)Y<QE#QzH&N#(j&L?m6TrL50LF@L+rcAK%Xs%H-p5%sm{o*t^-X$|
zMm@&VKVBttM_H?xdO~N*Ld9&o&_N0vqR?1Pp==`qQ%O_ouY{>yi>_fl`XY`_FC({%
z53FHv1xJd63nju>k#K*B5HAuwTq2wz;elx?d!*?ld~CXrvv_h1A78;kr6*(MC#QlZ
z5A%sCcpm2Wp*4JF1qVnvODK;n<BR-X!<Sc(s?aVj<DyT?MmxTG313^mQ^BO;JInaq
zDt^-3yo%*3cy0xk$aVAd8eUkzE+M{Y6)#qdHOj647-0bKWEOWa)^4P;ci|+RoyKn5
z&uaV_tH;w!m^J$33N!Q-?)nQO^52NyKYWY&FUG2j{94&_zbqM<o(&RY8v#7kab-Jx
zbqT*-#UG|BK!RL6#nO_f61J@<tO0)}%myC&SB@Q=Irtm?aiWv&3}^Ar6P^DD7^Laj

literal 3529
zcmbVO=~vWN6#oT~afYZ=#ofB&fJ>?(idc)z0CGAg1;nCV%wz%tLNZM<pw_O|?$&O0
z-|hFFata*V(|+hj{hxaJdr4*namLN#aNoOmcmLh{-mU-s{0G1R{2D=pgv~>arZ{%m
z_7pdlb}zV|KJF^VR9EjYOxsh_rXE3+gq?aOr%YxIWyo+`PpnKMJ-S!X?D28c$|!w#
zVIe9ZrcS7qmvL;vldwL;Q;MTc_;w7<RT4)}^kr3NtXn<bDxt<dJgnxl5sJ#H;~2W5
zhr)}(ZT|Cukl&Ij>5(#Sd$yz5mgm@}(k(WLU}Ne|r(@@`G*~@HnK40|N*QGtho6<C
zF*HPnEYDEQq~K6REbXXcc^~V`h$rnF^Vesax@8*~5vebgw;mn7;MlHaXX!zZqcJt7
z8m5|d6-%8suZY?lJ>J_#$%VtZr&_}%k5<MTk`k&Cc1Djv!YUa{u`Gr)SQo)s32Q~N
z%P5ku9(94Tqk*y|DZ|oF<i^vw(=UoGVQI?NRC7Re46zTHRo;l<O4ypZKU_j*vxcXQ
z2(Pxv*oOMRXpdm}5p=K$@no{AVL-&tAY&00$FKvtBG@TmSLxc8DTj>RPy~z|P0i?j
zg(NJX_J#pkIp3Gn^^63GNsC_WC8j;YwzxO=>!M#7!)0nUKbZ$)EI@S(EohD4P?*dz
z$dz#zPZ9~NOuMDA8jgf5@rJv=-m9B5IiZJ#T5IqWjz-WXVZ;2sn0HjhF;T7>TIjJ|
zL-;MSm6Q=dwODn?SQxC1%ZQ@7x~-PI&3}x)S9f(bAJH-(ES`{Y5<OH#ZeE#$jqzj&
zhua5IM!MZ`Y=^~+9TP}DnVWF@4E4!ag4!rf;dBJdZ)53F-3k4z1FD(RWju>PCVZ^J
zb|zJaHQD(<jT1<>#&8zTNAMhB_#ifAynq)Ozn=vq{xFsTP^vN>Lv20*9lA5l1e`)f
zh8~2`t54{Tn0D2N4a@M3#88P58AC`#F$yz+F$v3x4Z}GkfabXZV@*+5$VOlj?DJ7D
zXF8_r$rP=aTm4Dae<8~xz61g-Hg?R(xg)0TvMrUnFn3QC%w!8Z;b>06zIfL|N{j4_
zVp4#RQH<h(0HMEnS%9!9f>$IQC|#oaPUi?-ld$*Ug=4scH$+HpN-)b6`(D;t&z3>R
zJ%s|Kyd@)s8qtt%%aBnc2HCs9nfD}&J(4qz>dObX8o`HUyRyg9bK@LFn%iw>a-8ly
zpgzJi36Vs9Z+lOoyL?lY5^fa$_(Y6^CefasiJ(81u%}$mC3ST9x4<aA5DiB?Yru=+
z626x44ZaN~R+q(A^TZghik}f<ePLF23_D|JY=u5M=V*F|;on|&JY9B=@@c^*MVDpi
zPQp}OS9c@$nREI9dXCpcq3bwL{Sk&uEOI3WYz(#Hrr@ep3}c^i6#JBe*r&vVPl*Vh
z@`@v^5cAWgoGw1)^-U_^vmAB&yMnvDJSUMZZ2SW&XR!J=|K#KRTkZ2VU<223a0VOc
zml*n+3-bFy`Dh@&<?4I|o8~Bp78ESPcB&B$420pus35+*VFr!AlUo7dLW~r=)uX8Q
zwKSs2=LT+w?@wTl?^=w3><JUL4^7l5VSmBN%ajvAw$MiN3=ZDJ5ebvrB=Q@LoA&%>
zn48Z0Mq7?9yBJhGodM!}Ml@hG=^8ZBxj4hwfqkS+qz6cgS!*c-{WMZx&@Nq_>(Jtx
z=&r=+(4*o`xK!K;pTb=+M=KaB_%K-v1?!lPM&{ulvr)={X9^B<hGnax$=)gS&)^JK
z=YmyH`C>n%O-%HDVy1bH(z-%a>2gZ7f>N=Xuk;|5wovJzl1h2E1*wv@ap;Rw-EN%4
zaN}QS8JvPKh4ERq(`XJE6M04=WSq}4+C#?0JfoA0OM?uyx$1AcI#|h7d*3WxpT_0<
zmqg)9XYl0;zw8h)SNOX;i+83GC+jR-d4CEY^ZzV9oknkwcYO-iecn0p)(p<#%W13>
z!c{Z)s+fvq;s|`+RrwuRM<lHvdRF2%Rv}G%T_V1&v8*@vo}Oi*{>78Hg(GuPcDqoA
w@A4@l0!5GVS2Pqfb8?QL6be@0dmgR85BQOEDOVPL!Y^&B`2;zO8*Quq2V@CzF8}}l

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 4243b3c..cf26a10 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -13,7 +13,9 @@ 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;
@@ -32,6 +34,9 @@ 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();
@@ -67,10 +72,6 @@ public void BrakeFerme(){
 
   @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);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index e7e1cb6..8c5199a 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -12,13 +12,19 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 
 import edu.wpi.first.wpilibj.DigitalInput;
-
-
+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 frc.robot.Constants;
 
 
 
 public class Gratte extends SubsystemBase {
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
+.withSize(2, 2);
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
@@ -51,6 +57,9 @@ public class Gratte extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 3f38ebc..797cc12 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -8,11 +8,19 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+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 BrasTelescopique extends SubsystemBase {
+  
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+.getLayout("yeet", BuiltInLayouts.kList)
+.withSize(2, 2);
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -28,6 +36,6 @@ public class BrasTelescopique extends SubsystemBase {
 
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
+    yeet.add ("encodeur",0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index d9166ec..6e6e9c9 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -5,12 +5,14 @@
 package frc.robot.subsystems.bras;
 
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType; 
 import static frc.robot.Constants.*;
 
 public class Pivot extends SubsystemBase {
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
   // moteur
   private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
 
@@ -18,7 +20,7 @@ public class Pivot extends SubsystemBase {
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
-  // encoder
+  // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
   }
@@ -27,6 +29,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
+  teb .add ("encodeur pivot",0.1);
  }
 }

From 9833f8c594973a1e273e6f86540ecea609be7e85 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 27 Feb 2023 20:14:26 -0500
Subject: [PATCH 10/18] fdgsrytyu

---
 simgui-ds.json                                | 92 +++++++++++++++++++
 simgui.json                                   | 17 ++++
 src/main/java/frc/robot/RobotContainer.java   | 12 +++
 .../java/frc/robot/subsystems/Gratte.java     |  2 +-
 .../subsystems/bras/BrasTelescopique.java     |  6 +-
 5 files changed, 125 insertions(+), 4 deletions(-)
 create mode 100644 simgui-ds.json
 create mode 100644 simgui.json

diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 0000000..73cc713
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
new file mode 100644
index 0000000..1d8ea9a
--- /dev/null
+++ b/simgui.json
@@ -0,0 +1,17 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "Shuffleboard": {
+        ".metadata": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  }
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..a2d0c3c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,8 +6,20 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Gratte;
+import frc.robot.subsystems.Limelight;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pince;
+import frc.robot.subsystems.bras.Pivot;
 
 public class RobotContainer {
+  BasePilotable basePilotable = new BasePilotable();
+  Gratte gratte = new Gratte();
+  BrasTelescopique brasTelescopique = new BrasTelescopique();
+  Pince pince = new Pince();
+  Pivot pivot = new Pivot();
+  Limelight limelight = new Limelight();
   public RobotContainer() {
     configureBindings();
   }
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 8c5199a..db7b8b6 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -22,7 +22,7 @@ import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
-ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 797cc12..c47f2f0 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -18,8 +18,8 @@ import frc.robot.Constants;
 public class BrasTelescopique extends SubsystemBase {
   
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
-ShuffleboardLayout layout = Shuffleboard.getTab("teb")
-.getLayout("yeet", BuiltInLayouts.kList)
+ShuffleboardLayout bras = Shuffleboard.getTab("teb")
+.getLayout("bras", BuiltInLayouts.kList)
 .withSize(2, 2);
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
@@ -36,6 +36,6 @@ ShuffleboardLayout layout = Shuffleboard.getTab("teb")
 
   @Override
   public void periodic() {
-    yeet.add ("encodeur",0.1);
+    bras.add ("encodeur",0.1);
   }
 }

From 115b22af9e0dab70b6ce502ba8dd874ba300318a Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Mar 2023 17:52:39 -0500
Subject: [PATCH 11/18] csdf

---
 src/main/java/frc/robot/RobotContainer.java | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index dd97cd1..c04cf95 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -71,20 +71,23 @@ public RobotContainer() {
     
 }
 
-  private void configureBindings() {
+  private boolean configureBindings() {
+    // manette 1
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
     manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
-    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
+    // manette 2
+    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique));
     manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
     manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
     manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
     manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
     manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
     manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));  
+    
   }
 
   public Command getAutonomousCommand() {

From 8c1eb669ab217ed2ecc565af10c3d40dc83ebdc1 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Mar 2023 17:56:37 -0500
Subject: [PATCH 12/18] zdcfv

---
 src/main/java/frc/robot/subsystems/BasePilotable.java | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index b628ceb..43d1aaf 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -61,9 +61,8 @@ public void BrakeFerme(){
   brakegauche.set(Value.kReverse);
 }
 public void resetGyro(){
-  try {gyroscope.reset();} catch(Exception e){DriverStation.reportError("bye bye",true);
+  {gyroscope.reset();} 
  }
-  }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);

From 1f76a07202ff04455f267cfcea6b37c196790e50 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 7 Mar 2023 17:57:00 -0500
Subject: [PATCH 13/18] ew

---
 src/main/java/frc/robot/Constants.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 427cfff..1846ed1 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -6,13 +6,13 @@ public class Constants {
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
 
-    public static int leverGratte = 0;
-    public static int baisserGratte = 1;
+    public static int leverGratte = 7;
+    public static int baisserGratte = 6;
 
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
-     public static int actuateur = 2;
+     public static int actuateur = 8;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
     // DIO

From 07ce25107ad6f3cc1fcdfcb9ab16bf4e94786019 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Mar 2023 17:58:08 -0500
Subject: [PATCH 14/18] c

---
 src/main/java/frc/robot/RobotContainer.java | 18 ------------------
 1 file changed, 18 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 83ba7b5..493cfbe 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,7 +6,6 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -64,23 +63,6 @@ PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pi
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
 public RobotContainer() {
-=======
-import frc.robot.subsystems.BasePilotable;
-import frc.robot.subsystems.Gratte;
-import frc.robot.subsystems.Limelight;
-import frc.robot.subsystems.bras.BrasTelescopique;
-import frc.robot.subsystems.bras.Pince;
-import frc.robot.subsystems.bras.Pivot;
-
-public class RobotContainer {
-  BasePilotable basePilotable = new BasePilotable();
-  Gratte gratte = new Gratte();
-  BrasTelescopique brasTelescopique = new BrasTelescopique();
-  Pince pince = new Pince();
-  Pivot pivot = new Pivot();
-  Limelight limelight = new Limelight();
-  public RobotContainer() {
->>>>>>> Dash
     configureBindings();
 
     basePilotable.setDefaultCommand(new RunCommand(() -> {

From af2f0bb61b8e9ae0b90005362a4503a75d87645f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Mar 2023 18:01:56 -0500
Subject: [PATCH 15/18] rstdfghjbknl;

---
 src/main/java/frc/robot/Constants.java               |  6 ------
 src/main/java/frc/robot/subsystems/Gratte.java       | 12 +-----------
 .../frc/robot/subsystems/bras/BrasTelescopique.java  | 10 ----------
 src/main/java/frc/robot/subsystems/bras/Pivot.java   | 11 ++---------
 4 files changed, 3 insertions(+), 36 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 777fea3..73fa1ef 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,18 +5,12 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
-<<<<<<< HEAD
     public static int BrasTelescopique = 4;
     public static int pivot = 5;
     
     //moteur
     public static int leverGratte = 0;
     public static int baisserGratte = 1;
-=======
-
-    public static int leverGratte = 7;
-    public static int baisserGratte = 6;
->>>>>>> Dash
 
     // pneumatique
     public static int pistonpinceouvre = 0;
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index e758b90..8707d45 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -7,25 +7,18 @@ package frc.robot.subsystems;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-=======
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
->>>>>>> Dash
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
-<<<<<<< HEAD
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-=======
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+ ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
->>>>>>> Dash
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
@@ -59,16 +52,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("limithd", 0.1);
     teb .add("limithg", 0.1);
     teb .add("limitbd", 0.1);
     teb .add("limitbg", 0.1);
-=======
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
->>>>>>> Dash
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 815f1c0..8ddbd77 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -8,13 +8,10 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-=======
->>>>>>> Dash
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
@@ -23,18 +20,14 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
-<<<<<<< HEAD
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
   .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
-=======
   
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
 ShuffleboardLayout bras = Shuffleboard.getTab("teb")
 .getLayout("bras", BuiltInLayouts.kList)
 .withSize(2, 2);
->>>>>>> Dash
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -60,11 +53,8 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
     }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("photocell",0.1);
     teb .add("winch",0.1);
-=======
     bras.add ("encodeur",0.1);
->>>>>>> Dash
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index a1ef017..ad36e3a 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -14,11 +14,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
-<<<<<<< HEAD
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-=======
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
->>>>>>> Dash
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -40,12 +36,9 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("encodeur", 0.1);
   }
-}
-=======
-  teb .add ("encodeur pivot",0.1);
+  {
+  teb.add ("encodeur pivot",0.1);
  }
 }
->>>>>>> Dash

From bcc8ef7f8e7705a05454119276cae4ca6354a5c5 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Mar 2023 18:40:45 -0500
Subject: [PATCH 16/18] s

---
 src/main/java/frc/robot/RobotContainer.java         | 3 +--
 src/main/java/frc/robot/commands/GratteBaisser.java | 5 ++++-
 src/main/java/frc/robot/subsystems/Gratte.java      | 7 ++++++-
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 493cfbe..eef6f29 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -76,7 +76,6 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
-    // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
     manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     // manette 2
@@ -87,7 +86,7 @@ public RobotContainer() {
     manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
     manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
     manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));  
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
     
   }
 
diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java
index de68b8f..0e79838 100644
--- a/src/main/java/frc/robot/commands/GratteBaisser.java
+++ b/src/main/java/frc/robot/commands/GratteBaisser.java
@@ -9,6 +9,7 @@ import frc.robot.subsystems.Gratte;
 
 public class GratteBaisser extends CommandBase {
   private Gratte gratte;
+  private int vitesse;
   /** Creates a new GratteBaisser. */
   public GratteBaisser(Gratte gratte) {
     this.gratte = gratte;
@@ -41,7 +42,9 @@ public class GratteBaisser extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 8707d45..3f727ef 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -25,6 +25,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
+public boolean baiser;
   
   public boolean hautd(){
     return limithd.get();
@@ -34,7 +35,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     return limithg.get();
   }
 
-  public boolean basd(){
+  public boolean basd(int i, String string){
     return limitbd.get();
   }
   public boolean basg(){
@@ -61,4 +62,8 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
   }
+
+public boolean basd() {
+    return false;
+}
 }

From cd7604e30f9d6c974930cf5af86554639315c8a0 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Mar 2023 18:44:44 -0500
Subject: [PATCH 17/18] v

---
 src/main/java/frc/robot/commands/GratteBaisser.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java
index 0e79838..8984475 100644
--- a/src/main/java/frc/robot/commands/GratteBaisser.java
+++ b/src/main/java/frc/robot/commands/GratteBaisser.java
@@ -9,7 +9,6 @@ import frc.robot.subsystems.Gratte;
 
 public class GratteBaisser extends CommandBase {
   private Gratte gratte;
-  private int vitesse;
   /** Creates a new GratteBaisser. */
   public GratteBaisser(Gratte gratte) {
     this.gratte = gratte;

From 8655fe985a4803aefe8aa4857c86c9b584d4f47b Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 7 Mar 2023 18:53:40 -0500
Subject: [PATCH 18/18] bhbhbhbhh hbhbhbgfe

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 4945 -> 5352 bytes
 src/main/java/frc/robot/Constants.java        |   8 +---
 src/main/java/frc/robot/RobotContainer.java   |  37 +++---------------
 .../frc/robot/subsystems/BasePilotable.java   |   7 ++--
 .../java/frc/robot/subsystems/Gratte.java     |  13 +-----
 .../subsystems/bras/BrasTelescopique.java     |  17 ++------
 .../java/frc/robot/subsystems/bras/Pince.java |   3 +-
 .../java/frc/robot/subsystems/bras/Pivot.java |  16 +++-----
 8 files changed, 19 insertions(+), 82 deletions(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 97e4d2ea02ea1f4aecc4b5d209cb7cce22189f01..87950cbafadc0f0169446122d60981729af5519a 100644
GIT binary patch
delta 994
zcma)5OHUI~6#g!y3>~I|MHelmCQuB;#Y7{x=t3SE#gs&Y0X1$0<`%~eGj$#iOiUBE
zZX~ntcMzc{C?Y-(1Qp-!H;8ZdKH{aVp+-a8+<VVC-}jyGoXO0tTL|-0KZi#FY{u7q
zKFJHU9;9%Z!w|s+r`}sp+F&cH)uctGUfs4#0cSAm%=2}gvl!)Yj$k80g&d7v;TCWn
zV@|B-xMv)fI9w#CN!Nlxsp~SXIGcoB+ph{(h1EQQIKtxut_hgN3_+1eS&wdNSX3s+
zui77O^)XX71l+_dD|b?>-rTC&?J6Z`s*3iNlqVzM=pm_F5^YOS#h9&iSc<NR8BmLz
zNT>=mB0R=%TfiOMCGbeH{98k>%8*q_>l9loL(w`T{~;HSQrQ-J5{ejezVU&z**<cs
zq}sGik(tj3L1BU#iY_Z1PLDT~ENRen%d`wB(M+v_x@_`zjHeu)5R|6}NPAGUZaq%L
zsMOUiOAIK*qz+3rdIdbgbGCu5r4+$*uKO%ABfdk@WR;qssIJHD#NtR!&>Kkpf!WiW
zpxI$_TW188EoRi0=Vrf3u5x3Iq^d27MI*%pcvJ#E4}#YMYT++-;}uH~2u+$sjYd^6
zO=@yjAgJg&T;@!A*X-r+k)ZOgRsCyV4xb5v%R>nYGTS*d=RNB3#8JrH06(1g%Bd}b
zDU7(?DO?!C_#h^#M-bdMgvmjaRS)1~ehO3Up70G+592!6pK`0MpK<e0&d#0iIkInC
z@;joaV6l+VMF^EFBDjZUb_UpceL7~jC2~O;ygP?TvP2i|Gk6{z;32ygMPI;$mw1CY
c%(F~@MaS?K@9O+$#Q_w(XO9o~gfH;_0*r<)tpET3

delta 599
zcmZ8dOK%cU7(JJP&TttXrL=XdY0y^fbb~Ck3l@@CO&T?{E=n{m9N<c5MnDEwm>3e5
zb)&fpqyM5R)0eH)`lP-Z-|x3^;~#KgykZlgck$hGa?f|p_ucRM>K5AgHMa<02;Zh?
zjc%<ItYi6fA;T&qE1WVc7B1$@LfJ@}%#CTx%9tUD@{Lj#KSI6yC-u2h%we9d(0JPd
zuF6>C?VcfN3D@{u&uRBEZpyepuzjsX<33f9Zs9i9)X~~q6(Mv|^x_1?8QfEG9}fsT
z7AueBtE^OJ83O0PA$^=cDY8<okjbSL>}cCLd;ZV4K=B06WIQDZOc+%oVjB5uWVlcf
z<EnU$7X)(EFe@x^l%R89Sl{=Ls$0ln6bpEz;x*n7NJd5kCV9ZCd7D;=)C5bHV>%xr
z-C|*1Fn6qIvScokW#yOxzk+r?>Fw`ONAh`A+GQG+#Vi@03Hr_+@8Mnk4VNbUCna|h
z3W)gUA3V^}h}br+xLh`_FJZZkJA?D+Jvfa<9X*4Wan5ODWlCrr*d*#6k)VZk*ZKrj
z|9YSwn*}3yi2b6j7dQ)N^DQb2E(RZkusVasHeM#1{Oy1IU5mGZg2DnwAb?SXF@|k8
ifL5p;T}yS~y^uNZ0UyO36zCK_;Y(b@I1b}$T>A}MgrXY&

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 777fea3..0dadcab 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,18 +5,12 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
-<<<<<<< HEAD
     public static int BrasTelescopique = 4;
     public static int pivot = 5;
     
     //moteur
     public static int leverGratte = 0;
-    public static int baisserGratte = 1;
-=======
-
-    public static int leverGratte = 7;
-    public static int baisserGratte = 6;
->>>>>>> Dash
+    public static int baiserGratte = 1;
 
     // pneumatique
     public static int pistonpinceouvre = 0;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 83ba7b5..4157ed0 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,7 +6,6 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -17,7 +16,6 @@ import frc.robot.subsystems.Gratte;
 import frc.robot.subsystems.bras.BrasTelescopique;
 import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
-import pabeles.concurrency.ConcurrencyOps.Reset;
 import frc.robot.subsystems.Limelight;
 // command
 import frc.robot.commands.BrakeFerme;
@@ -33,12 +31,7 @@ import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
-import frc.robot.commands.bras.PivotChercheBas;
-import frc.robot.commands.bras.PivotChercheHaut;
-import edu.wpi.first.apriltag.AprilTag;
-import frc.robot.commands.Cube;
-import frc.robot.commands.Cone;
-import frc.robot.commands.Tape;
+
 
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
@@ -64,23 +57,6 @@ PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pi
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
 public RobotContainer() {
-=======
-import frc.robot.subsystems.BasePilotable;
-import frc.robot.subsystems.Gratte;
-import frc.robot.subsystems.Limelight;
-import frc.robot.subsystems.bras.BrasTelescopique;
-import frc.robot.subsystems.bras.Pince;
-import frc.robot.subsystems.bras.Pivot;
-
-public class RobotContainer {
-  BasePilotable basePilotable = new BasePilotable();
-  Gratte gratte = new Gratte();
-  BrasTelescopique brasTelescopique = new BrasTelescopique();
-  Pince pince = new Pince();
-  Pivot pivot = new Pivot();
-  Limelight limelight = new Limelight();
-  public RobotContainer() {
->>>>>>> Dash
     configureBindings();
 
     basePilotable.setDefaultCommand(new RunCommand(() -> {
@@ -89,24 +65,21 @@ public class RobotContainer {
     
 }
 
-  private boolean configureBindings() {
-    // manette 1
+  private void configureBindings() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
     // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
-    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
-    // manette 2
-    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut, brasTelescopique));
+    /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
     manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
     manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
     manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
     manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
     manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
     manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));  
-    
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 783ac65..ac6eaca 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -35,7 +35,7 @@ public class BasePilotable extends SubsystemBase {
   //gyro
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
-  .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
+  .getLayout ("distance", BuiltInLayouts.kList)
   .withSize(2, 2);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
@@ -72,12 +72,11 @@ public void resetGyro(){
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
+    layout .addDouble("distance", this::distance);
   }
 
   @Override
   public void periodic() {
-    teb .add("distance",0.1);
-    teb .add("brakedroit",0.1);
-    teb .add("brakegauche", 0.1);
+
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index e758b90..2fc91db 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -7,27 +7,19 @@ package frc.robot.subsystems;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-=======
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
->>>>>>> Dash
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
-<<<<<<< HEAD
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-=======
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
->>>>>>> Dash
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
-  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
+  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
@@ -59,16 +51,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("limithd", 0.1);
     teb .add("limithg", 0.1);
     teb .add("limitbd", 0.1);
     teb .add("limitbg", 0.1);
-=======
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
->>>>>>> Dash
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 815f1c0..ffe1dd0 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -8,13 +8,10 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-=======
->>>>>>> Dash
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
@@ -23,18 +20,13 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
-<<<<<<< HEAD
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
   .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
-=======
-  
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
-ShuffleboardLayout bras = Shuffleboard.getTab("teb")
-.getLayout("bras", BuiltInLayouts.kList)
-.withSize(2, 2);
->>>>>>> Dash
+ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
+ .getLayout("bras", BuiltInLayouts.kList)
+ .withSize(2, 2);
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -60,11 +52,8 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
     }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("photocell",0.1);
     teb .add("winch",0.1);
-=======
     bras.add ("encodeur",0.1);
->>>>>>> Dash
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java
index 62022de..a8a7c81 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pince.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pince.java
@@ -8,8 +8,7 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
 import frc.robot.Constants;
 
 
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index a1ef017..a252b7b 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -14,11 +14,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
-<<<<<<< HEAD
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
-=======
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
->>>>>>> Dash
+ShuffleboardTab teb = Shuffleboard.getTab("teb");
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -40,12 +36,10 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
   }
   @Override
   public void periodic() {
-<<<<<<< HEAD
     teb .add("encodeur", 0.1);
+    teb .add ("encodeur pivot",0.1);
   }
 }
-=======
-  teb .add ("encodeur pivot",0.1);
- }
-}
->>>>>>> Dash
+  
+ 
+