From 9b625fba889aab5fe3408ea0c1e8b7e089e24fbc Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 19:20:58 -0500
Subject: [PATCH 1/3] dtshj

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 3591 -> 3529 bytes
 .../frc/robot/subsystems/BasePilotable.java   |   2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 4fa115f0f2e85cfa728212880d73812a328be609..20fa95de559406b9cb9fb8c40403e23dadb6ccea 100644
GIT binary patch
delta 1069
zcmZ`&*-{fh6g|yMW+szi5m|~|OArVpZmfa`A+n2X27(A8M2v)>B!UaFh=__Cwy3DM
ze}D!<3M{SiQT+p-eDEiDvFs)ZJXtkUea^YdoZH<qllVPB{qcA8D}a2w|ENxc=%fs@
z*-V#0#uAiXyUX3}?6K)Vkf%WhNkst;$S9;8!Zx7@#dKWAl}b=5;}BgHQjKMZCNT8b
z+zo>+yW2kK<fY{rWJnwx)}Z)NB~`>^r36Pb)Z-}47ENJI8p08wM++=6j?po3x6q0<
z`avw#x1&SGae`DjDW>W)oIoc{))kkZ)UX8+1gdGMyWdt}8ya9<ThODS7i|Pef0J$4
zHsrDqNX2%i-Cd$WK%WL1YW1+AU&dLwsEdzq5Rhs;oH!?AkYE?>5)x>d6v;ky9z%3Z
zR~A+PH?O-uus@@^E|9QwXQqWW8sQT<IJ(3qTt`<l=;4rYl^~zlj+y(tU6L_Qu+PsD
z!&Qu8k~h6Z;K-=sGTkG$rCisb!oc_Ih6W7=6<N5+^KKFJZ{#J>Uvhyoi@P%Ju+562
zP9=)@y@&g>Mk$K5V~+2qLq$6%FMdR@H&E<UqLZqt{nj7zEo52o=;MACG(5v|`bTLN
z-w^EJb1qr*646=M@yoPZO&5$1>8zS55aiHrYIIKSGV)h&kYL3438o<FVZ<CHeT-BD
zNlz52sA{OJszEKAF^1he7dsZh)<TxY+l8&5PC#p*-zMV?HyQ898C@_GrZ;Rft3=3p
zvuIY{=t1)`tPFMe5nVH6r+5D^_tZu%N3>qc9%om@Z<3_3ljSCV8htoz{EPyt2WLDO
z@WJIpZa^3g3Z{T?F({Y=!sVb)!Guw6Em!=4F{{9kx!H#aFQ$SKlh_#yRro{GER@BI
zrrA5?!;BXhOloIdZhP>6Jw812qH$B3_h5cq>tb5G)rTiu#PVWs8BeJ-)FQk<E%k)v
dr7W`HLhur=*c!=@6R+{MG>-jH?RZxj_YW!8_=Ere

delta 1111
zcmZ`&Yf}?f7=8}B*-bVF8>>JCW)RyMAdE6)5KW=VJvdN{L7_2f31Ni<l1O%oy$D`F
z(cYAvO6&d7_H)~eA!D67;|D+J^hdN``xE+s>3c{5elfF?eV*q%@3ZH5&+dzg#Y*Gl
z>K{)5?7=U;8|R8NZ*5msSO1b{2Wt^mi{|Q!N5hsm5S>ce;n69R!8sPS>~JDty1=l9
z!vW2J4=p<06Sc~Ar4{dsK4rISKiYM)F;s~YN>zZP10@XZanl}1T2VWiOvwH&4jr0A
zJsi#)>g8}j)7m_=Df%%u0;Xl!3`%X?kQ@7PkmExPi2sz1&4V0oz~jOZ4C@$T@QP>Z
zJK|SWb8viwpg5zpY9SogaZEf_>y#7tSp2KD#=;z%;bAa3QsGIn$4td3%@K@om<UqD
z$$&XyrYuUUwMG+Bd!GRX6C5Ye??MbyIwl#moJ>U;QpwSz-O!m#$eGxd97mji9dIFu
zX&tA;HAkb8f+e0i+MPapB0XlrCT;JI7(SKZ<I?bR8Ga3&k>TSy=4iH*rF7}<YE8#E
zhQ=JLGz`q*g0z_z|7ceEMGgaQIl)B^4!41NT#@B3MM6L2`WoNr_$D`)QZeV;N`twI
zYogTIQWC>=a(r<EA$%`et~0zVruDaIT}4?8KgcOjwHy=jp*J~h;kNkAIjBBlcw5vf
z6{10N3a@L`F+#bWVy97~G{GT;jk+Pwwwh2)2^n^yg#JtEFz2BX0({;_XkNkI$Jobk
znn-7XM2K`3$T$&yfkd|AfcVSs_x7PbZ)ef5ylS`UF+NZ*ocG&c(r|-GN6AFU?W;Mo
zZstePnpp|82hupaf}?~+a!5RJ@2VMn-P*|dT8V^*?^5Vh5$$}-*>Ud^_=0If(@11t
zXV9D%P8WpEyzp5;=*|mY6a+sBvq9QSv-&5_1{FfxgIS!<V4+ayT(9_Zl}l8q4|;na
z;Sw!h$l`JawWNh;FJGmxL{}CfgTRKioW}B+HbPo?FpD2ED3i_V3T}vs;vwY@g|dsA
etM1Yf7U3T5)BR0CNj$($ZQJM*3gPFrZT|zPGXn1b

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 2156046..4ed9d06 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -32,7 +32,7 @@ public class BasePilotable extends SubsystemBase {
     return gyroscope.getPitch();
   }
 
-  public void drive(double xSpeed, double zRotation, double d, BasePilotable basePilotable){
+  public void drive(double xSpeed, double zRotation, double d){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){

From bde4ca17a21bcfae2cf5ed92fd9bcdf62ccc9d8a Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 19:25:28 -0500
Subject: [PATCH 2/3] hgn

---
 src/main/java/frc/robot/commands/Reculer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index d7c8c67..ce9aecf 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -26,7 +26,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.2, 0, 10, basePilotable);
+    basePilotable.drive(0.2, 0, 0);
   }
 
   // Called once the command ends or is interrupted.

From 9536969fcefe11becda219b92838d085aa6222a0 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 19:35:25 -0500
Subject: [PATCH 3/3] b v

---
 src/main/java/frc/robot/RobotContainer.java | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0315ac8..4a5236f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -33,6 +33,7 @@ import frc.robot.commands.BrakeOuvre;
 import frc.robot.commands.GratteBaisser;
 import frc.robot.commands.GratteMonte;
 import frc.robot.commands.Gyro;
+import frc.robot.commands.Reculer;
 import frc.robot.commands.bras.FermePince;
 import frc.robot.commands.bras.OuvrePince;
 import frc.robot.commands.bras.PivotBrasRentre;
@@ -84,6 +85,11 @@ public RobotContainer() {
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
-   
+    return new SequentialCommandGroup(
+      new PivoteBrasMilieux(brasTelescopique, pivot),
+      new OuvrePince(pince),
+      new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
+      new Gyro(basePilotable)
+    );
   }
 }