From bf67f5db8036aadc185a3b7e7da44f89a59bce54 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 13 Feb 2023 19:44:54 -0500
Subject: [PATCH 01/24] srdtfgh

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 3529 -> 1904 bytes
 .../frc/robot/subsystems/BasePilotable.java   |   1 -
 .../java/frc/robot/subsystems/Gratte.java     |   9 ---------
 3 files changed, 10 deletions(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index a1ecf8d0e5dc7b0fe12ec67cf110faf2ead1688a..ebf1b7601d549ee330a2682cd4f886bcb8240690 100644
GIT binary patch
literal 1904
zcmeHHZBNud5S~R|?#dyEBEA9TMLZO56Jj)qF#;!Qa-iXm#E;u{?{1;(HoMyjKg^hD
zqTl^d#%Zq?G3jCMyI(pxJ3G%jGxMZBe|`N908fC9!4QF^mU5|*jx<!qjy}_d2byj(
z&EE@O8s_+X42B7;b1$Z!B0*b1X_KCO;T&&JR|WwKJ=*Lgr>O)imax!xN(w_@u7R(p
z;z?FVxSH;4?KdN)PWIU8CV}znaht_%2U9CdDZv%blP7Yw7aqy)pEe2^(LfrhTp1cA
zeY%%AJ6*@;>a~(_gat>>fr$ib(mr6G!Z59iRtpJ*Mlipg-XMhKD0b50xY{SZE@PZu
zQ~ErV!b>~NvU=6a?K35{D<fpkozV%4nedsTX~>dOn(k)n%|R10OKomg*!J=1rRrLp
z!0?Xra5XmwOdjL>sE<+lN-3#IaErj=hfr}X{e*iqP9N9BjF6!n;SPKrJhLqeX5mf+
z=3pKN@?3<%ydW@BZTvxN8YRN^=Gqa~Xo!&S$AQDuVX6rN(+%k||A;A(`uXLs=?G0=
zrSWf7<vm5hxE&-=t=HeCg-V{#*r<yYMh>{<C?D(>1J-sr@ON>dFw}K+xe9m*9uV^R
z;%+szTR!Y?TLh6*#zuCvOp7(tMq18j+ht)WjqPx|H#e(%QPeilW_FVI|Nm`Q2LsIk
zw;gdMq$gZlX;a3^<+~yi*Iz%NS}I9c1e5~)xh$B15g5hO6pZDzl-qJ{Ef~+@mE2Ci
zW%P$&5_3{}CAZUX75y?IUxOL^UPtc{Rv~DuZ!r6D`sNq7{Ugg+!0%`lnFkxsmF_F#
zwS*pl<pB^D3K1q?1#x;D(hmD`ST01kI{=5(LWEVgca8(Oki&W*LUjOyjY5RA0T3P+
dBFyzcxL>f%sX~PHJ_tp6cv*<>5N9_8wcn2ly(<6!

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 220799e..9b1eb24 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -7,7 +7,6 @@ package frc.robot.subsystems;
 import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index e7e1cb6..9bc4bb1 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -5,19 +5,10 @@
 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;
-
-
 import frc.robot.Constants;
 
-
-
 public class Gratte extends SubsystemBase {
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);

From c7aca5961d047a5751682ae65f2831c114b5576b Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 13 Feb 2023 19:48:32 -0500
Subject: [PATCH 02/24] sfk

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 1904 -> 3529 bytes
 src/main/java/frc/robot/Constants.java        |   8 +++++---
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index ebf1b7601d549ee330a2682cd4f886bcb8240690..a2332e150d55ae79549ace7f41302a982571b46e 100644
GIT binary patch
literal 3529
zcmbVO=~vWN6#oT~afYZ=Ma8{}I^Yr&6e-%O!y>1HQa~)y#Y`qZASBZy18VJR?QZR6
z_uYQ)DW|}(J?)2n)c>iczn5fY5NF&tOzwL(@9w{QUvB;P=RW|N@oNNS61EIGn&Q|g
z+f&?Z%Dv!v`h=?-S6#iwFl|pwnR)~j5_ak7tTL4`lwrehJ+U&4)YyJSvnM80E3Ne9
zgoUVtm^!IiUfQt@Pr`;IPbrQ*>Dw_hS4kW@*_TnB@ox2etAr~5@Q9k#Mky+*j$`PK
z9ttlBx4GAgLVioKs7K0#?b(iITb^T^O1Ib~f{m#=osON&&|u{}WyU0JDkYSq9lloD
zjNxHAWO;^awh0bZ#8Qqrp7U{g3Gp^N%l!4(rf%6rT14tg<*Y|XE;zQU*%^8e<Y-*Y
zs)nhiT*Xo+&nu!f$4>P2QF8H!?y1&@$)n}*`Zfs_2|KMvAz_V-<yaBJTC9&?orHBF
z*(DUo*npZq*|9*`vZP_@C$keN-RT#_masf&YpOY*I)>PX%nEPRa3$0w?+=&I*^J?7
zqr$5?8QZWuFxn%Segqw?LcFc5tA0SlP%mQ%md3CXyCc{oVR!M`mMDjeJx~OU98FE@
zeuX3~qW1a$S~=gB(e<<hiAjrI>?Ni>!?w6L`0JuyX~Sh|H9winG8UmSh8DC&@I;u*
z63CTt7)OW%R;Jz3SPe(Q)_DD0VDHsUnw-?bL#<VK3dbTiDq+*YzF2Tn#&J=uDq85V
zT|@XSvehOdf=aRKkg+&eosbblW#!Ro_BQ_*f3NQ9Y(Ao8Kv+B};}m+RjNF_u37g|>
zMI3G)NE)ej$FUt2Gj?1c{Zw|+@iWvXV;QQWIE^zAFux7OOLZso>jqRatIK#6gG~5%
zhwV(M4r{XOff^@}ZjE6G&qweaVfY|6WxRkF8NZ(eCH^p$0#K?l9z%650Uf$C!33N}
zT818k(W_7Dj+l0phYic{o{XU!qcVn(jA9IC1mhA`6dHzeNC3@q1;(19u#kzsCfFCE
zVBU00+EYndG3)$E)_)<xB)$X!EjE7K$-1Ma?y@bFyD)c870hG{JmF|oLSww^A*Drj
z#xNy7$SB5eL4eR-y(~c36u~PJnv0j{zSB8^*CgzJc;Of>;SCYen-a`Y#lDyI)}ayz
zxu;Nol(%HWP$e4jZ5cAE#2|ZDIP;!_@keszQGNLUS0nhaWLNfBdUk@tNOQaGbe7ZI
z2h>NnCLxmO?``i%beC?*V#2Kg0H27F&?MUPGZFOX684n}x~PsW{}vd-7oy>)XDxVf
zT*B8fzQMP_#OkuxYMvP574frTtS`>!j$x+_jjhmUXB|!NF#Ox=j!&08WBjz>Cq<WK
z=}y8_T~~J__?dJ10eX(tMZW7ePyG>w$64fZ4%ir~#ZAFgwHU@e<tX+k2eD6y37--X
zKIIihS|;YFPdQzD%Ilj{z-J|D_*})^ex8#^7dQNY)w8Jm%|E%3&q|-a5u3P{gEQDn
zzr@hrl9z7`<)eZ8)~gE@Y@Vkenpdy{JE%rDFc5|pqk{O3`dKvmPHq{53o%lljxKNW
zwKSl@=LT+w_j|F=cP++1_Js*+L=$yNIFNVpGUY^&EwpiP7Kd))NeNTjByt;#oA%sh
zgqzOXMq7z4yAafNIs-bt1aZ`ou0=hzlkPwR8u@G@Z6+;bttB7y(@2IvyL5HFLrZU>
zyBudij|w~CQeh{23U`GZtzxXeZkBux)<dEBy*R{N6m#I2yaSzK*=lIAcN+b(ILp<!
zU{z4Q)K6(66Wv729GIuHCLdL*lu|9PRIC;%ZKl#gRN7KhDetx*Rnj&NeUYl$4RaW2
z_zNwA(=etnF$Z@B2SdhWj*$o%=W~qqka01`=p^IPAcH+v@i$%_Ea$4dZw{}|;BxLw
zBLAi{cyonsb_$s*{9T^IJ2QxrHAGk5pT@`hpTnm!=q>QBPvg4JJ4fEy!8v?6gVjQ~
zVisQ&QgM(t0$K^r6$I-_BB_SxS%ni=jTF{!IMw1B*5L+AJI9vzm!E>SaAaP}Zs+Up
wT`pz36hx2mS1=Sbb7G#L6bhE%dmb&r5BQOEIad~b!Y@Z_`3W+F8%JyZ2Obe~2><{9

literal 1904
zcmeHHZBNud5S~R|?#dyEBEA9TMLZO56Jj)qF#;!Qa-iXm#E;u{?{1;(HoMyjKg^hD
zqTl^d#%Zq?G3jCMyI(pxJ3G%jGxMZBe|`N908fC9!4QF^mU5|*jx<!qjy}_d2byj(
z&EE@O8s_+X42B7;b1$Z!B0*b1X_KCO;T&&JR|WwKJ=*Lgr>O)imax!xN(w_@u7R(p
z;z?FVxSH;4?KdN)PWIU8CV}znaht_%2U9CdDZv%blP7Yw7aqy)pEe2^(LfrhTp1cA
zeY%%AJ6*@;>a~(_gat>>fr$ib(mr6G!Z59iRtpJ*Mlipg-XMhKD0b50xY{SZE@PZu
zQ~ErV!b>~NvU=6a?K35{D<fpkozV%4nedsTX~>dOn(k)n%|R10OKomg*!J=1rRrLp
z!0?Xra5XmwOdjL>sE<+lN-3#IaErj=hfr}X{e*iqP9N9BjF6!n;SPKrJhLqeX5mf+
z=3pKN@?3<%ydW@BZTvxN8YRN^=Gqa~Xo!&S$AQDuVX6rN(+%k||A;A(`uXLs=?G0=
zrSWf7<vm5hxE&-=t=HeCg-V{#*r<yYMh>{<C?D(>1J-sr@ON>dFw}K+xe9m*9uV^R
z;%+szTR!Y?TLh6*#zuCvOp7(tMq18j+ht)WjqPx|H#e(%QPeilW_FVI|Nm`Q2LsIk
zw;gdMq$gZlX;a3^<+~yi*Iz%NS}I9c1e5~)xh$B15g5hO6pZDzl-qJ{Ef~+@mE2Ci
zW%P$&5_3{}CAZUX75y?IUxOL^UPtc{Rv~DuZ!r6D`sNq7{Ugg+!0%`lnFkxsmF_F#
zwS*pl<pB^D3K1q?1#x;D(hmD`ST01kI{=5(LWEVgca8(Oki&W*LUjOyjY5RA0T3P+
dBFyzcxL>f%sX~PHJ_tp6cv*<>5N9_8wcn2ly(<6!

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 427cfff..450a43b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,7 +5,9 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
-
+    public static int BrasTelescopique = 4;
+    
+    //moteur gris
     public static int leverGratte = 0;
     public static int baisserGratte = 1;
 
@@ -15,12 +17,12 @@ public class Constants {
      public static int actuateur = 2;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
-    // DIO
+    // DIO Brando
     public static int limitbd = 0;
     public static int limitbg = 2;
     public static int limithd = 3;
     public static int limithg = 1;
 
-    public static int BrasTelescopique = 5;
+    
 }
   
\ No newline at end of file

From 77b894194e825b545c99e0f4f77758c28add4674 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 13 Feb 2023 19:51:56 -0500
Subject: [PATCH 03/24] gjnvb

---
 .../robot/commands/bras/PivoteBrasBas.java    | 35 +++++++++++++++++--
 .../robot/commands/bras/PivoteBrasHaut.java   | 31 ++++++++++++++--
 .../commands/bras/PivoteBrasMilieux.java      | 32 +++++++++++++++--
 3 files changed, 92 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
index 03a1793..de9ddfb 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
@@ -4,12 +4,22 @@
 
 package frc.robot.commands.bras;
 
+
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
 
 public class PivoteBrasBas extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasBas. */
-  public PivoteBrasBas() {
+  public PivoteBrasBas(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
   }
 
   // Called when the command is initially scheduled.
@@ -18,7 +28,28 @@ public class PivoteBrasBas extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+    }
+  
+  
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
index 4932ad2..2ba3c74 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
@@ -5,11 +5,19 @@
 package frc.robot.commands.bras;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
 
 public class PivoteBrasHaut extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasHaut. */
-  public PivoteBrasHaut() {
+  public PivoteBrasHaut(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
   }
 
   // Called when the command is initially scheduled.
@@ -18,7 +26,26 @@ public class PivoteBrasHaut extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+    }
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index be7e44e..da8939b 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -5,11 +5,19 @@
 package frc.robot.commands.bras;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
 
 public class PivoteBrasMilieux extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasMilieux. */
-  public PivoteBrasMilieux() {
+  public PivoteBrasMilieux(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
   }
 
   // Called when the command is initially scheduled.
@@ -18,7 +26,27 @@ public class PivoteBrasMilieux extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+    }
+  
 
   // Called once the command ends or is interrupted.
   @Override

From a45a443bd3a6f7e1357cd2cba46949d903bb7f9d Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 13 Feb 2023 19:52:13 -0500
Subject: [PATCH 04/24] sfdhj

---
 .../frc/robot/commands/StablePlateform.java   | 32 -------------------
 1 file changed, 32 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/StablePlateform.java

diff --git a/src/main/java/frc/robot/commands/StablePlateform.java b/src/main/java/frc/robot/commands/StablePlateform.java
deleted file mode 100644
index f223510..0000000
--- a/src/main/java/frc/robot/commands/StablePlateform.java
+++ /dev/null
@@ -1,32 +0,0 @@
-// 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;
-
-public class StablePlateform extends CommandBase {
-  /** Creates a new StablePlateform. */
-  public StablePlateform() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // 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() {}
-
-  // 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;
-  }
-}

From 75a5406d7eb53b4bfcd72a7b9fdbcbeafb490a36 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 17:12:20 -0500
Subject: [PATCH 05/24] vbjnm

---
 src/main/java/frc/robot/commands/Gyro.java | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index f2dd5b8..8492e0d 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -23,13 +23,13 @@ public class Gyro extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(basePilotable.getpitch()<15) 
+  if(basePilotable.getpitch()<10) 
    { 
-    basePilotable.drive(0.2, 0, 0);
+    basePilotable.drive(0.4, 0, 0);
    }
-   else if(basePilotable.getpitch()>-15) 
+   else if(basePilotable.getpitch()>-10) 
    { 
-    basePilotable.drive(-0.2, 0, 0);
+    basePilotable.drive(-0.4, 0, 0);
    }
    else
    {

From 3b6e00bd4b753b207df17c458af430a6460fcef4 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 17:18:46 -0500
Subject: [PATCH 06/24] fhmcgj

---
 .../robot/commands/bras/PivotBrasRentre.java  | 47 +++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/bras/PivotBrasRentre.java

diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
new file mode 100644
index 0000000..9624497
--- /dev/null
+++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
@@ -0,0 +1,47 @@
+// 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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotBrasRentre extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotBrasRentre. */
+  public PivotBrasRentre(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
+  }
+
+  // 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(brasTelescopique.distance()>1){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+    if (pivot.distance()>1){
+      pivot.monteDescendre(0.5);
+    }
+  }
+  
+  // 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;
+  }
+}

From 12aa68574f449eb62fcb5cd962312b27b055f676 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 15 Feb 2023 17:24:38 -0500
Subject: [PATCH 07/24] hello there

---
 .../java/frc/robot/commands/limelight.java    | 32 ---------------
 .../java/frc/robot/subsystems/Limelight.java  | 20 ++++++++-
 vendordeps/photonlib.json                     | 41 +++++++++++++++++++
 3 files changed, 60 insertions(+), 33 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/limelight.java
 create mode 100644 vendordeps/photonlib.json

diff --git a/src/main/java/frc/robot/commands/limelight.java b/src/main/java/frc/robot/commands/limelight.java
deleted file mode 100644
index 3853a09..0000000
--- a/src/main/java/frc/robot/commands/limelight.java
+++ /dev/null
@@ -1,32 +0,0 @@
-// 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;
-
-public class limelight extends CommandBase {
-  /** Creates a new limelight. */
-  public limelight() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // 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() {}
-
-  // 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/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index befd637..64708e0 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -4,11 +4,29 @@
 
 package frc.robot.subsystems;
 
+import org.photonvision.PhotonCamera;
+import org.photonvision.common.hardware.VisionLEDMode;
+
+import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+
 public class Limelight extends SubsystemBase {
+  PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
-  public Limelight() {}
+  public Limelight() {
+    PortForwarder.add(5800, "photonvision.local", 5800);
+  }
+
+  public void cube()  {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(3);
+  }
+
+  public void Cone() {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(2);
+  }
 
   @Override
   public void periodic() {
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..4f378c4
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,41 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2023.3.0",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonLib-cpp",
+            "version": "v2023.3.0",
+            "libName": "Photon",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonLib-java",
+            "version": "v2023.3.0"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonTargeting-java",
+            "version": "v2023.3.0"
+        }
+    ]
+}
\ No newline at end of file

From a16c2413d87e4b8554b2cc496b4f28320ffc56b7 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 15 Feb 2023 18:03:47 -0500
Subject: [PATCH 08/24] vcgh

---
 src/main/java/frc/robot/RobotContainer.java | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..9cafd77 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,6 +6,25 @@ 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.commands.limelight;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pince;
+import frc.robot.subsystems.bras.Pivot;
+import frc.robot.commands.BrakeFerme;
+import frc.robot.commands.BrakeOuvre;
+import frc.robot.commands.GratteBaisser;
+import frc.robot.commands.GratteMonte;
+import frc.robot.commands.Gyro;
+import frc.robot.commands.bras.FermePince;
+import frc.robot.commands.bras.OuvrePince;
+import frc.robot.commands.bras.PivotBrasRentre;
+import frc.robot.commands.bras.PivoteBrasBas;
+import frc.robot.commands.bras.PivoteBrasHaut;
+import frc.robot.commands.bras.PivoteBrasMilieux;
+
+
 
 public class RobotContainer {
   public RobotContainer() {

From 2a2cf91fe6f4c2795093cee4d06f82fea57661b4 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 15 Feb 2023 18:06:19 -0500
Subject: [PATCH 09/24] xzcvb

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

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9cafd77..cccb81d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,12 +6,14 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+//subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
-import frc.robot.commands.limelight;
 import frc.robot.subsystems.bras.BrasTelescopique;
 import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
+import frc.robot.subsystems.Limelight;
+// command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
 import frc.robot.commands.GratteBaisser;
@@ -24,8 +26,6 @@ import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
 
-
-
 public class RobotContainer {
   public RobotContainer() {
     configureBindings();

From 89c650e57c61e7159e1c09127d42bb6b4bfb309a Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 15 Feb 2023 18:20:54 -0500
Subject: [PATCH 10/24]  zdgxfhml,;

---
 src/main/java/frc/robot/RobotContainer.java | 25 ++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index cccb81d..71542a8 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 //subsystems
@@ -27,7 +28,29 @@ import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
 
 public class RobotContainer {
-  public RobotContainer() {
+XboxController manette1 = new XboxController(0);
+XboxController manette2 = new XboxController(1);
+// subsystems
+BasePilotable basePilotable = new BasePilotable();
+Gratte gratte = new Gratte();
+BrasTelescopique brasTelescopique = new BrasTelescopique();
+Pince pince = new Pince();
+Pivot pivot = new Pivot();
+Limelight limelight = new Limelight();
+//commands
+BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
+BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
+GratteBaisser gratteBaisser = new GratteBaisser(gratte);
+GratteMonte gratteMonte = new GratteMonte(gratte);
+Gyro gyro = new Gyro(basePilotable);
+FermePince fermePince = new FermePince(pince);
+OuvrePince ouvrePince = new OuvrePince(pince);
+PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
+PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
+PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
+PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
+
+public RobotContainer() {
     configureBindings();
   }
 

From af77d6e4a4b5fe2e6136b83b4071833f57898632 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 15 Feb 2023 18:23:38 -0500
Subject: [PATCH 11/24] niga

---
 src/main/java/frc/robot/subsystems/Limelight.java | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index 64708e0..ac1d815 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -23,11 +23,21 @@ public class Limelight extends SubsystemBase {
     limelight.setPipelineIndex(3);
   }
 
-  public void Cone() {
+  public void cone() {
     limelight.setLED(VisionLEDMode.kOff);
     limelight.setPipelineIndex(2);
   }
 
+  public void apriltag() {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(0);
+  }
+
+  public void tape() {
+    limelight.setLED(VisionLEDMode.kOn);
+    limelight.setPipelineIndex(1);
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From eed8f171e17d562f21f59ff03ac0c4ae0e65f58f Mon Sep 17 00:00:00 2001
From: Olivier Demers <olidem123@gmail.com>
Date: Wed, 15 Feb 2023 23:26:45 +0000
Subject: [PATCH 12/24] Removed bin folder

---
 bin/main/frc/robot/commands/BrakeFerme.class     | Bin 982 -> 0 bytes
 bin/main/frc/robot/commands/BrakeOuvre.class     | Bin 982 -> 0 bytes
 .../frc/robot/subsystems/BasePilotable.class     | Bin 3529 -> 0 bytes
 3 files changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 bin/main/frc/robot/commands/BrakeFerme.class
 delete mode 100644 bin/main/frc/robot/commands/BrakeOuvre.class
 delete mode 100644 bin/main/frc/robot/subsystems/BasePilotable.class

diff --git a/bin/main/frc/robot/commands/BrakeFerme.class b/bin/main/frc/robot/commands/BrakeFerme.class
deleted file mode 100644
index 9911767ccb6bbbfedefdcca16f36a0596a4e226b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 982
zcma)5T~E|d5IuKWD3q=Xiz2A_0V-wJ(8NT2!1w^kK5dL~%_ibgyS;=9+ZJzIzkZW1
zCW?uP{s4cJai-nfZlVc1bb4p*oO9-*{r%_1F91*ATBr%EAL@aplOV~wK@vrN9H!o$
z_D^I->PT8J1zIx9z4xceJ5)N&_%u|(@xyVxw_oD+{8S3m1A4ts!zA;AA^CT^l|Y&Y
z>Blsa5lKvE?F!63Rk6yR32eC+0c`gL%>5*kHViB{u;2(7?sk730+$@jVAjH-fO}5q
zy>Uf0;hGMXaao|@hv7^4Hdk6kGR{(g9rsQ5qD;G7TcfLD`8<yTsb7_IXm*o<KkWNj
zu|Eo$*^wgpTT?CnX9+YOo2R4vq54D}U&p$I8v+~WPu9Uro{U{>RKSuS<RH&zH-?Nu
znxlKbB`>HrlUnDenWUgNV9~Tgy6F)IXt*5eCAl8Rj^foeD%PE2|DBIJG(>~GErA+u
zfKD@XwlGI_p1eN!HF~eKzQb;{zoFhTf1>f)X!p*r^o4F}xI(rGlWc?RBH@}8TgD3G
zN;Ixwl|1%Yg^I-*oRP-k!UyJBUr|59wTjg)(5qC>TEWH$${VrK7A72Riu0YQz$^nw
z;WA2~m;i4VjdO#K=-~$c0d5w+vi>oUH8!wGmi`jlBg+&I3ZH0<&jlIJqZD_i#A_4r
I`$g8)U&kBAQUCw|

diff --git a/bin/main/frc/robot/commands/BrakeOuvre.class b/bin/main/frc/robot/commands/BrakeOuvre.class
deleted file mode 100644
index 17058de63c61796f1ae924b9f1c2052704f4c714..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 982
zcma)5+fLL_6kTUJP$(S>gCeMS0hH1)G%-;hFg`%S(?pG9CJ~?7=^-4Pws_j&<(qsl
zQA|wq1N<oC-tF8HP2i!sXYaGuTKm%e{`2D(fX8r6)C5)!b<fvnnC5;jjpHDRGJjVG
zZ{_piR7(?e0Z&GS|Ncbzhe~HTpZY31elX1U_bS|OkV%0?NUs;FpXNc>Cx4?o7RZV)
z`<Uf2CW*<c9f9d5DpC1Uflc=!fUT}TeJ_oq1p{+7OxOa3yVaeAz$F_~m^Lvl;GR=@
zXIPO%xTcLoTo!PGD0(U16-vukCV3{X?Y?PWlxc@+bJ{AA&x$yd`c*ZDW;^W#{cfNY
z`-5OTKT<@0Yog`<EP=*j@pM$sSD&ck>sU2$LtyRv$=bNdld;Ad6)@!o*(-9|jUkhW
z=I9=9$#W{nrPjqsE-5GuSTx%w-Ry`1G+YjK(n9y-zT(w7W7h5C;55J;8lpkpmOza+
zK&L4>o0uUxOJ0}!8oigi@36eqH#EHZPdKlQR_6>0U+AWWD`cCflXb|>6Rt_IMJzF{
zLgOly$zz{Ys93DP9%wu&ePG7>ipCkPjajV{y-fA2lx&Qkya5|+VZ_m*INymem}NjI
zTt)>HBjD|_ac=M-J>1|w!1WSX)jtHX#v0bi(qDqRWSQcA=@X6dxg_IxRO0T0cx@zp
Iugu!~3ji<2+5i9m

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
deleted file mode 100644
index a2332e150d55ae79549ace7f41302a982571b46e..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3529
zcmbVO=~vWN6#oT~afYZ=Ma8{}I^Yr&6e-%O!y>1HQa~)y#Y`qZASBZy18VJR?QZR6
z_uYQ)DW|}(J?)2n)c>iczn5fY5NF&tOzwL(@9w{QUvB;P=RW|N@oNNS61EIGn&Q|g
z+f&?Z%Dv!v`h=?-S6#iwFl|pwnR)~j5_ak7tTL4`lwrehJ+U&4)YyJSvnM80E3Ne9
zgoUVtm^!IiUfQt@Pr`;IPbrQ*>Dw_hS4kW@*_TnB@ox2etAr~5@Q9k#Mky+*j$`PK
z9ttlBx4GAgLVioKs7K0#?b(iITb^T^O1Ib~f{m#=osON&&|u{}WyU0JDkYSq9lloD
zjNxHAWO;^awh0bZ#8Qqrp7U{g3Gp^N%l!4(rf%6rT14tg<*Y|XE;zQU*%^8e<Y-*Y
zs)nhiT*Xo+&nu!f$4>P2QF8H!?y1&@$)n}*`Zfs_2|KMvAz_V-<yaBJTC9&?orHBF
z*(DUo*npZq*|9*`vZP_@C$keN-RT#_masf&YpOY*I)>PX%nEPRa3$0w?+=&I*^J?7
zqr$5?8QZWuFxn%Segqw?LcFc5tA0SlP%mQ%md3CXyCc{oVR!M`mMDjeJx~OU98FE@
zeuX3~qW1a$S~=gB(e<<hiAjrI>?Ni>!?w6L`0JuyX~Sh|H9winG8UmSh8DC&@I;u*
z63CTt7)OW%R;Jz3SPe(Q)_DD0VDHsUnw-?bL#<VK3dbTiDq+*YzF2Tn#&J=uDq85V
zT|@XSvehOdf=aRKkg+&eosbblW#!Ro_BQ_*f3NQ9Y(Ao8Kv+B};}m+RjNF_u37g|>
zMI3G)NE)ej$FUt2Gj?1c{Zw|+@iWvXV;QQWIE^zAFux7OOLZso>jqRatIK#6gG~5%
zhwV(M4r{XOff^@}ZjE6G&qweaVfY|6WxRkF8NZ(eCH^p$0#K?l9z%650Uf$C!33N}
zT818k(W_7Dj+l0phYic{o{XU!qcVn(jA9IC1mhA`6dHzeNC3@q1;(19u#kzsCfFCE
zVBU00+EYndG3)$E)_)<xB)$X!EjE7K$-1Ma?y@bFyD)c870hG{JmF|oLSww^A*Drj
z#xNy7$SB5eL4eR-y(~c36u~PJnv0j{zSB8^*CgzJc;Of>;SCYen-a`Y#lDyI)}ayz
zxu;Nol(%HWP$e4jZ5cAE#2|ZDIP;!_@keszQGNLUS0nhaWLNfBdUk@tNOQaGbe7ZI
z2h>NnCLxmO?``i%beC?*V#2Kg0H27F&?MUPGZFOX684n}x~PsW{}vd-7oy>)XDxVf
zT*B8fzQMP_#OkuxYMvP574frTtS`>!j$x+_jjhmUXB|!NF#Ox=j!&08WBjz>Cq<WK
z=}y8_T~~J__?dJ10eX(tMZW7ePyG>w$64fZ4%ir~#ZAFgwHU@e<tX+k2eD6y37--X
zKIIihS|;YFPdQzD%Ilj{z-J|D_*})^ex8#^7dQNY)w8Jm%|E%3&q|-a5u3P{gEQDn
zzr@hrl9z7`<)eZ8)~gE@Y@Vkenpdy{JE%rDFc5|pqk{O3`dKvmPHq{53o%lljxKNW
zwKSl@=LT+w_j|F=cP++1_Js*+L=$yNIFNVpGUY^&EwpiP7Kd))NeNTjByt;#oA%sh
zgqzOXMq7z4yAafNIs-bt1aZ`ou0=hzlkPwR8u@G@Z6+;bttB7y(@2IvyL5HFLrZU>
zyBudij|w~CQeh{23U`GZtzxXeZkBux)<dEBy*R{N6m#I2yaSzK*=lIAcN+b(ILp<!
zU{z4Q)K6(66Wv729GIuHCLdL*lu|9PRIC;%ZKl#gRN7KhDetx*Rnj&NeUYl$4RaW2
z_zNwA(=etnF$Z@B2SdhWj*$o%=W~qqka01`=p^IPAcH+v@i$%_Ea$4dZw{}|;BxLw
zBLAi{cyonsb_$s*{9T^IJ2QxrHAGk5pT@`hpTnm!=q>QBPvg4JJ4fEy!8v?6gVjQ~
zVisQ&QgM(t0$K^r6$I-_BB_SxS%ni=jTF{!IMw1B*5L+AJI9vzm!E>SaAaP}Zs+Up
wT`pz36hx2mS1=Sbb7G#L6bhE%dmb&r5BQOEIad~b!Y@Z_`3W+F8%JyZ2Obe~2><{9


From 4d81dd9f9b748f213ad2254945c657e36d057f52 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 15 Feb 2023 18:27:48 -0500
Subject: [PATCH 13/24] cdf

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 3529 -> 3529 bytes
 src/main/java/frc/robot/RobotContainer.java   |   4 ++++
 .../frc/robot/subsystems/BasePilotable.java   |   2 +-
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index a2332e150d55ae79549ace7f41302a982571b46e..20fa95de559406b9cb9fb8c40403e23dadb6ccea 100644
GIT binary patch
delta 833
zcmZ`$?N3rs9Da@$?&alRw8AajTs1Zum8~rjj8KulvILb<urh)h-FR^Wrj=!G&T6hz
zc4lAu(AMWhB6F@kz^y-^Z}p|G{RypefD3(TyE}Vce&^ZqyJx>=zvuJo4iaQ<I+lCW
z1g5lBDklpm)eM636h_Dvcrd8I%T7s0r3>(}h~$?27*;UEHYBHO1P%ggMlDAdN?KW4
zD2S`06bfX4E>V~oD9pY~y(T}dQA{Ah{z!q&DT)KIn-Rke1=rbx;fyqcS+;8MnG?9F
zV2;4aCJjy_#Vy=szYV_8I}`_DC$I#H$*dYui+SEPh7?5_vwVT<l)9)EODciv(+XPI
zZ-Imig^F=AG-MS#V0mM=F-JfyvzNvd*@H5-8I=c*YgiJ+b7Jz5C|*a)6lUZUJS7<5
zZMrsp9%CQmA)>M$@+*GklwWoYn_`!o1qm<_mo#~78s3YxT<k{X%O}%wLKJq|5{aJW
zKbGJe9Q^D8um%H1fY-GR_YMYjagkt&lYmZAoCI}};UuJ!)M1RVZ<g@b6^u9IN_^#i
z<2rY7Rl-a&ugyeYn~6lh*qqhd7j1=w(NPa`@avNmOz$Ah(R>53J!^ko@_(~;TeAW&
zJMEYFGq4eQ=-EBj9z5|1?pKhnp;U#tDJ<$jpea1mg<w;7tP3G7JP~EwhObzOOB@BK
zYgnyfO?Lt<C)9A(xpOk^a&KdukFVA6qKXq-OYklm6};tN4ezR$Y-?K;Y}K`SX0m0;
QI4j#Glo)^KkHbg)0_IG{i2wiq

delta 888
zcmZ`$O-~b16g`ib&h%r@5`;uqpu_~I5jF)WR=z3}0s<BRYZWPFfN7ykIulSqG$E)l
zM#UH0x-fC8sg#BgO<a=rA9Ul!pWw>-N(bCHnY^5H?!D*Td*4CLLCvR^Wo&@IDqF2H
z7}x-VbJj4ecsilGz;H=}1Bx2~TvpM}8>F*R5Lfu1)Z*$yw~8)?T0SM!Ml|%Gior9l
zTca7%u#8Mv)L+%0LJ_D>gYyveYj8nPy1XcU433Cy>K234&^X~iCx$hQV3hxndMd^=
zoP^hfaZIY1VDRy8@_GJIRva2`BFfj~pc2C!6}S0Uxlx+JUH)4RPQ^7;z{}w7$;MN9
zpPpT!X~r?DK}VEEOhxo%J!|R=O3+9fR)-rB7BtLZ$b}>pRiqdy=dy|BY-T27HHR{3
zu@lP_>+thuj&&sfi}JaqwAUrEBF6NK()(h}B3cz=`c*unEmGIjTR+e7cS<Ll<3E%a
zbS|pDyh&_{0sU^oz=d7h*;by!ThTs=XRz@3gYyYv3cu(c8THfU3@xalvzm6d0htgG
z@a>>=7j1j!U|1m%vPptSuTAEOgl&>Ig#rHE9qu2*P|41u9sFx|Vh`6OOqTqPnJ_$N
z!cj0D^91UzADM+wRy3=k@<<Lhc5#c)^daK=o~HVl|K%o*as}dEtx2MH;oVy0qj}#x
z0?{0d9F__&^Jpyz%eD|I3HNNFw<J8Ug)j+gQEH}D{(|+WM5uSHfX8`k*pbjtBzzdz
zq{xM+uVn|Dl)h2G(>xkTi%~Dnb9haE0dMk%9BbP-Y!|g@?krESA#RlqtK;;}@4HU_
E1*A66p#T5?

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 71542a8..715aa36 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,6 +7,7 @@ package frc.robot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
@@ -52,6 +53,9 @@ PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 
 public RobotContainer() {
     configureBindings();
+
+    basePilotable.setDefaultCommand(brakeOuvre);
+    new RunCommand(basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette.getRightTriggerAxis()), basePilotable), null));
   }
 
   private void configureBindings() {}
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 9b1eb24..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, int i){
+  public void drive(double xSpeed, double zRotation, double d){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){

From 52539e1f4fe2ca89903a5c2bf64fe4bfbb283abb Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 18:29:34 -0500
Subject: [PATCH 14/24] jgfhfcnh

---
 src/main/java/frc/robot/Constants.java          |  3 ++-
 .../java/frc/robot/commands/GratteBaisser.java  | 17 +++++++++++++++--
 .../java/frc/robot/commands/GratteMonte.java    | 13 ++++++++++++-
 .../robot/commands/bras/PivotBrasRentre.java    |  3 +++
 .../robot/subsystems/bras/BrasTelescopique.java |  6 +++++-
 5 files changed, 37 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 450a43b..e306ca1 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -17,11 +17,12 @@ public class Constants {
      public static int actuateur = 2;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
-    // DIO Brando
+    // DIO
     public static int limitbd = 0;
     public static int limitbg = 2;
     public static int limithd = 3;
     public static int limithg = 1;
+    public static int photocell = 4;
 
     
 }
diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java
index b423033..de68b8f 100644
--- a/src/main/java/frc/robot/commands/GratteBaisser.java
+++ b/src/main/java/frc/robot/commands/GratteBaisser.java
@@ -3,10 +3,10 @@
 // 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.Gratte;
 
+
 public class GratteBaisser extends CommandBase {
   private Gratte gratte;
   /** Creates a new GratteBaisser. */
@@ -23,7 +23,20 @@ public class GratteBaisser extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    gratte.baiser(0.5);
+    if(gratte.basd()){
+      gratte.baiser(0);
+    }
+    else{
+      gratte.baiser(0.5);
+    }
+    if(gratte.basg()){
+      gratte.baiser(0);
+    }
+    else{
+      gratte.baiser(0.5);
+    }
+   
+
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java
index 15f2b31..950dcd2 100644
--- a/src/main/java/frc/robot/commands/GratteMonte.java
+++ b/src/main/java/frc/robot/commands/GratteMonte.java
@@ -23,7 +23,18 @@ public class GratteMonte extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    gratte.Lever(0.5);
+    if(gratte.hautd()){
+      gratte.Lever(0);
+    }
+    else{
+      gratte.Lever(0.5);
+    }
+    if(gratte.hautg()) {
+      gratte.Lever(0.5);
+    }
+    else{
+      gratte.Lever(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
index 9624497..e9af669 100644
--- a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
+++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
@@ -33,6 +33,9 @@ public class PivotBrasRentre extends CommandBase {
     if (pivot.distance()>1){
       pivot.monteDescendre(0.5);
     }
+    else if(brasTelescopique.photocell()){
+      brasTelescopique.Reset();
+    }
   }
   
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index f4f1458..2808ceb 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -8,6 +8,7 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -15,6 +16,7 @@ public class BrasTelescopique extends SubsystemBase {
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
+  private DigitalInput photocell = new DigitalInput(Constants.photocell);
   public void AvanceRecule(double vitesse) {
     Winch.set(vitesse);
   }
@@ -24,7 +26,9 @@ public class BrasTelescopique extends SubsystemBase {
   public void Reset() {
     Winch.getEncoder().setPosition(0);
   }
-
+  public boolean photocell(){
+    return photocell.get();
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From f57a481554e3722975989f6ff436261656df1043 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 15 Feb 2023 18:35:35 -0500
Subject: [PATCH 15/24] fhghj

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 3529 -> 3591 bytes
 src/main/java/frc/robot/RobotContainer.java   |   5 +++--
 .../frc/robot/subsystems/BasePilotable.java   |   2 +-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 20fa95de559406b9cb9fb8c40403e23dadb6ccea..4fa115f0f2e85cfa728212880d73812a328be609 100644
GIT binary patch
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

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

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 715aa36..a7c9738 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -55,8 +55,9 @@ public RobotContainer() {
     configureBindings();
 
     basePilotable.setDefaultCommand(brakeOuvre);
-    new RunCommand(basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette.getRightTriggerAxis()), basePilotable), null));
-  }
+    basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis(), basePilotable);
+}
+
 
   private void configureBindings() {}
 
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 4ed9d06..2156046 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){
+  public void drive(double xSpeed, double zRotation, double d, BasePilotable basePilotable){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){

From 9c97072db168ba0ba7b913c138d1d672ab586c23 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 18:54:35 -0500
Subject: [PATCH 16/24] hjymjghn

---
 src/main/java/frc/robot/Constants.java              |  4 +++-
 .../frc/robot/commands/bras/PivotBrasRentre.java    | 11 +++++++++++
 src/main/java/frc/robot/subsystems/bras/Pivot.java  | 13 ++++++++++---
 3 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index e306ca1..f0fb8a8 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -6,8 +6,9 @@ public class Constants {
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
     public static int BrasTelescopique = 4;
+    public static int pivot = 5;
     
-    //moteur gris
+    //moteur
     public static int leverGratte = 0;
     public static int baisserGratte = 1;
 
@@ -23,6 +24,7 @@ public class Constants {
     public static int limithd = 3;
     public static int limithg = 1;
     public static int photocell = 4;
+    public static int limitpivot = 5;
 
     
 }
diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
index e9af669..192dc88 100644
--- a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
+++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
@@ -35,6 +35,17 @@ public class PivotBrasRentre extends CommandBase {
     }
     else if(brasTelescopique.photocell()){
       brasTelescopique.Reset();
+      brasTelescopique.AvanceRecule(0);
+    }
+    else{
+      brasTelescopique.AvanceRecule(.5);
+    }
+    if(pivot.limitpivot()){
+      pivot.Reset();
+      pivot.monteDescendre(0);
+    }
+    else{
+      pivot.monteDescendre(0.5);
     }
   }
   
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index e8d5dbb..b2e3214 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -4,14 +4,17 @@
 
 package frc.robot.subsystems.bras;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType; 
-import static frc.robot.Constants.*;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
   // moteur
-  private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
+  private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
+  private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
 
   // function
   public void monteDescendre(double vitesse) {
@@ -23,6 +26,10 @@ public class Pivot extends SubsystemBase {
   }
   public void Reset(){
     pivot.getEncoder().setPosition(0);
+    
+  }
+  public boolean limitpivot(){
+    return limitpivot.get();
   }
   @Override
   public void periodic() {

From 67b762d877e936a6182cf9980163dacd18d1a503 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 15 Feb 2023 18:56:04 -0500
Subject: [PATCH 17/24] zxcvbnm,

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 3591 -> 3529 bytes
 src/main/java/frc/robot/RobotContainer.java   |   8 +++++++-
 .../frc/robot/subsystems/BasePilotable.java   |   2 +-
 3 files changed, 8 insertions(+), 2 deletions(-)

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/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a7c9738..390c2a1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,10 +4,12 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
@@ -59,7 +61,11 @@ public RobotContainer() {
 }
 
 
-  private void configureBindings() {}
+  private void configureBindings() {
+
+    JoystickButton buttonA = new JoystickButton(manette1, XboxController.Button.kA.value);
+    buttonA.whenPressed()
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
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 bf8ee48d486b2e95537806a4b493455fab1832c5 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 15 Feb 2023 19:18:18 -0500
Subject: [PATCH 18/24] gcvhbjn

---
 src/main/java/frc/robot/RobotContainer.java | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 390c2a1..8b66343 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -9,7 +9,9 @@ import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
@@ -57,14 +59,19 @@ public RobotContainer() {
     configureBindings();
 
     basePilotable.setDefaultCommand(brakeOuvre);
-    basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis(), basePilotable);
+    basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis());
 }
 
 
   private void configureBindings() {
+    XboxController exampleController = new XboxController(2);
+  Trigger aButton = new JoystickButton(exampleController, XboxController.Button.kY.value);
+
+
+
+
+
 
-    JoystickButton buttonA = new JoystickButton(manette1, XboxController.Button.kA.value);
-    buttonA.whenPressed()
   }
 
   public Command getAutonomousCommand() {

From 0f1f54cd797ef7ac45f4bad87990bbcd962accc0 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 19:18:42 -0500
Subject: [PATCH 19/24] b gnv

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +
 src/main/java/frc/robot/commands/Reculer.java | 41 +++++++++++++++++++
 2 files changed, 43 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/Reculer.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a7c9738..5fe595c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
@@ -63,5 +64,6 @@ public RobotContainer() {
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
+   
   }
 }
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
new file mode 100644
index 0000000..d7c8c67
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -0,0 +1,41 @@
+// 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 Reculer extends CommandBase {
+  BasePilotable basePilotable;
+  /** Creates a new Reculer. */
+  public Reculer(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() {
+    basePilotable.Reset();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    basePilotable.drive(0.2, 0, 10, basePilotable);
+  }
+
+  // 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;
+  }
+}

From 74e884d4ac37317098b36a2759a285717a884264 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 15 Feb 2023 19:19:41 -0500
Subject: [PATCH 20/24] dgbfb

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 3529 -> 3591 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 20fa95de559406b9cb9fb8c40403e23dadb6ccea..4fa115f0f2e85cfa728212880d73812a328be609 100644
GIT binary patch
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

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

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 4ed9d06..2156046 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){
+  public void drive(double xSpeed, double zRotation, double d, BasePilotable basePilotable){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){

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 21/24] 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 22/24] 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 23/24] 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)
+    );
   }
 }

From 8574a8e5bf272570ced532a2cea12cf3127c73f8 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 15 Feb 2023 19:36:00 -0500
Subject: [PATCH 24/24] fas

---
 src/main/java/frc/robot/RobotContainer.java | 17 +++++------------
 1 file changed, 5 insertions(+), 12 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0315ac8..017cf52 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -9,17 +9,11 @@ import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
-=======
-<<<<<<< HEAD
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-=======
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
->>>>>>> ded3f6018fe8a2c8b719139889c406330ff44003
->>>>>>> f1d0e3b3526aaeeafab0416ba8e92344786ea73c
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
@@ -66,15 +60,14 @@ PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 public RobotContainer() {
     configureBindings();
 
-    basePilotable.setDefaultCommand(brakeOuvre);
-    basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis());
+    basePilotable.setDefaultCommand(new RunCommand(() -> {
+      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
+    },basePilotable));
+    
 }
 
-
   private void configureBindings() {
-    XboxController exampleController = new XboxController(2);
-  Trigger aButton = new JoystickButton(exampleController, XboxController.Button.kY.value);
-
+