From d4a47ec15798b8975731ed3415c1e9dc7cf787e6 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 20 Feb 2023 19:57:40 -0500
Subject: [PATCH] yrfjchn

---
 src/main/java/frc/robot/subsystems/BasePilotable.java | 11 +++++++++--
 src/main/java/frc/robot/subsystems/bras/Pivot.java    |  5 +++--
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 220799e..4243b3c 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -13,6 +13,8 @@ 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.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -24,10 +26,12 @@ public class BasePilotable extends SubsystemBase {
   final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
+  
   //piston
   private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
   private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   //gyro
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
     return gyroscope.getPitch();
@@ -63,7 +67,10 @@ public void BrakeFerme(){
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
-    
+    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/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index e8d5dbb..d9166ec 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -4,6 +4,7 @@
 
 package frc.robot.subsystems.bras;
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType; 
@@ -26,6 +27,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
-  }
+    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
+ }
 }