From cef96749f405a71d99e4cab00934838c78225618 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Mar 2023 20:06:28 -0500
Subject: [PATCH] ds

---
 src/main/java/frc/robot/Constants.java               |  4 ++--
 src/main/java/frc/robot/RobotContainer.java          | 12 +++++++-----
 .../frc/robot/subsystems/bras/BrasTelescopique.java  |  3 ++-
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 8fc2828..a91b1b0 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -2,7 +2,7 @@ package frc.robot;
 
 public class Constants {
     public static int avantdroit = 1;
-    public static int avantgauche = 4;
+    public static int avantgauche = 2;
     public static int arrieredroit = 3;
     public static int arrieregauche = 5;
     public static int BrasTelescopique = 4;
@@ -11,7 +11,7 @@ public class Constants {
     //moteur
     public static int leverGratte = 0;
     public static int baiserGratte = 1;
-    public static int baisserGratte = 1;
+    public static int baisserGratte = 2;
 
     // 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 3612eaa..26b27f2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,7 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+import org.photonvision.estimation.CameraTargetRelation;
+
 import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -66,20 +70,18 @@ PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot
 Cube cube = new Cube(limelight, basePilotable, null);
 Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
 Tape tape = new Tape(limelight, basePilotable, null);
-
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
 public RobotContainer() {
     configureBindings();
     CameraServer.startAutomaticCapture();
-    basePilotable.setDefaultCommand(new RunCommand(() -> {
+    teb.add (CameraServer.startAutomaticCapture(null, 0));
+      basePilotable.setDefaultCommand(new RunCommand(() -> {
       basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0);
     },basePilotable));
     
 }
   
   private void configureBindings() {
-    basePilotable.setDefaultCommand(new RunCommand(() -> {
-      basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX(), 0);
-    },basePilotable));
     // manette 1
     manette1.povDown().onTrue(pivoteBrasHaut);
     manette1.povUp().onTrue(pivoteBrasBas);
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index c6f6e5b..08f1677 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -23,7 +23,8 @@ public class BrasTelescopique extends SubsystemBase {
   public BrasTelescopique() {
     teb .add("photocell",0.1);
     teb .add("winch",0.1);
-    teb .add("encodeur",0.1);}
+    teb .add("encodeur",0.1);
+  }
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
   private DigitalInput photocell = new DigitalInput(Constants.photocell);
   private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);