From de668cfe2e2f69ecdb62720f20a0765725b4d13e Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Tue, 7 Mar 2023 19:13:16 -0500
Subject: [PATCH 01/17] mhc n

---
 src/main/java/frc/robot/Constants.java        | 10 +--
 src/main/java/frc/robot/RobotContainer.java   | 71 +++++++------------
 src/main/java/frc/robot/commands/Gyro.java    |  8 +--
 .../frc/robot/subsystems/BasePilotable.java   | 14 ++--
 .../java/frc/robot/subsystems/bras/Pince.java |  2 -
 5 files changed, 43 insertions(+), 62 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1518cc8..8bfd25c 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -1,12 +1,12 @@
 package frc.robot;
 
 public class Constants {
-    public static int avantdroit = 0;
-    public static int avantgauche = 1;
-    public static int arrieredroit = 2;
-    public static int arrieregauche = 3;
+    public static int avantdroit = 1;
+    public static int avantgauche = 4;
+    public static int arrieredroit = 3;
+    public static int arrieregauche = 5;
     public static int BrasTelescopique = 4;
-    public static int pivot = 5;
+    public static int pivot = 0;
     
     //moteur
     public static int leverGratte = 0;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a68150c..910ae33 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,18 +6,9 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-
-//subsystems
-import frc.robot.subsystems.BasePilotable;
-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;
 import frc.robot.commands.BrakeOuvre;
@@ -32,71 +23,63 @@ 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;
+//subsystems
+import frc.robot.subsystems.BasePilotable;
 
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
 BasePilotable basePilotable = new BasePilotable();
-Gratte gratte = new Gratte();
+/*Gratte gratte = new Gratte();
 BrasTelescopique brasTelescopique = new BrasTelescopique();
 Pince pince = new Pince();
 Pivot pivot = new Pivot();
-Limelight limelight = new Limelight();
+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);
+//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);
+/*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);
-Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
+Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());**/
 public RobotContainer() {
     configureBindings();
-
-    basePilotable.setDefaultCommand(new RunCommand(() -> {
-      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
-    },basePilotable));
-    
-}
+  }
 
   private void configureBindings() {
-    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
+    basePilotable.setDefaultCommand(new RunCommand(() -> {
+      basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX());
+    },basePilotable));
+    //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));
+   /** 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.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() {
-    return new SequentialCommandGroup(
-      new PivoteBrasMilieux(brasTelescopique, pivot),
-      new OuvrePince(pince),
-      new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
-      new Gyro(basePilotable)
-    );
+    return null;
+    //return new SequentialCommandGroup(
+      //new PivoteBrasMilieux(brasTelescopique, pivot),
+      //new OuvrePince(pince),
+      //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
+      //new Gyro(basePilotable)
+    //);
   }
 }
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index dcb7893..d38b4a2 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()<10) 
+  if(basePilotable.getpitch()>4) 
    { 
-    basePilotable.drive(0.4, 0);
+    basePilotable.drive(0.3, 0);
    }
-   else if(basePilotable.getpitch()>-10) 
+   else if(basePilotable.getpitch()<-4) 
    { 
-    basePilotable.drive(-0.4, 0);
+    basePilotable.drive(-0.3, 0);
    }
    else
    {
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index b628ceb..c3daf2e 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -71,12 +71,12 @@ public void resetGyro(){
 
   @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);
-    teb .add("brakedroit",0.1);
-    teb .add("brakegauche", 0.1);
+    //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);
+    //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/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java
index 62022de..6044d4c 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pince.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pince.java
@@ -8,8 +8,6 @@ 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;
 
 

From e7f5b8144523fdd6e22e1077c36fe375d301090a Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 7 Mar 2023 19:17:53 -0500
Subject: [PATCH 02/17] hgd

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 5139 -> 5139 bytes
 src/main/java/frc/robot/Constants.java        |   3 ---
 src/main/java/frc/robot/RobotContainer.java   |   5 ----
 src/main/java/frc/robot/commands/Gyro.java    |   5 ++++
 .../frc/robot/subsystems/BasePilotable.java   |   1 -
 .../java/frc/robot/subsystems/Gratte.java     |  20 +++++----------
 .../java/frc/robot/subsystems/Limelight.java  |   4 +--
 .../subsystems/bras/BrasTelescopique.java     |   6 -----
 .../java/frc/robot/subsystems/bras/Pince.java |   1 -
 .../java/frc/robot/subsystems/bras/Pivot.java |  24 +++++-------------
 10 files changed, 21 insertions(+), 48 deletions(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 9d83fb8c4b8d806f9d9e70c4e4830a754a053402..30a8c07ebc00cf5bf07e74c7c45acc8d79238caf 100644
GIT binary patch
delta 212
zcmbQNF<E0nIX|QN<O+TVM$O4P`5jqx88{jACjaMeQ8ZxSWiVurWH4ZmVlZM*1JddY
z#z1JmU;-q~84M;b5hxHeW8ed_Wf&|Nv=}Ubq}60qK_5;V1}+9$1`!6k$>#+{C-)1Q
zb2<P;9DyQEKoNUZ7Y23)*UiF0CXBA`3@i-d45ADYKr1AHMoBSvFi0~b0gbF-kY(s+
yP+(ZhpvbVDL7CwIg9^hj233Z0K$SOvj(Gx9`G&!h;SYn?<Q`!QM*qo2h5Y~waws1F

delta 212
zcmWNLJ!%306okJ8C9I&Ebt7ohfD(1FFsv@DKlqoRXcX}bo*-Q;Qd$ZY?+D2O0x87K
zMoX>Jr_2$A<TY=GkKxUTEAHp3Ww^4mdPZ4xRzF<9<U#(dRn8+yl@uPg)F`T!@YQ*G
zeF8lBxPGw%V${jdpiEO;OA7YXY!jiw4P80g3E9|z*;n$Y<Vi_4Jm8AqmlOAm!H5t^
x5?WN$qJT6beYYUX8+UBT@lKvC_v|Tf)YM6beB<)Nm|vc`Fp;%WH|BD1X8#^*C`<qV

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 6d6e398..e46be4b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -10,11 +10,8 @@ public class Constants {
     
     //moteur
     public static int leverGratte = 0;
-<<<<<<< HEAD
     public static int baiserGratte = 1;
-=======
     public static int baisserGratte = 1;
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 
     // 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 b9a7dd2..5924a25 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -78,12 +78,7 @@ 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));
-<<<<<<< HEAD
     manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
-=======
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
-    
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index dcb7893..a20e5aa 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -4,13 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
 public class Gyro extends CommandBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private BasePilotable basePilotable;
   /** Creates a new Gyro. */
   public Gyro(BasePilotable basePilotable) {
+    teb.add("angleGyro", 0.1);
+    teb.add("vitesseGyro", 0.1);
     this.basePilotable = basePilotable;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 4cbec8e..fb14cae 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -8,7 +8,6 @@ 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.DriverStation;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 7176d4f..1657537 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -14,11 +14,7 @@ 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"); 
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
@@ -45,7 +41,12 @@ public boolean baiser;
     return limitbg.get();
   }
   /** Creates a new Gratte. */
-  public Gratte() {}
+  public Gratte() {   
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
+  }
   public void Lever(double vitesse){
     Gratted.set(vitesse);
     Gratteg.set(vitesse);
@@ -56,14 +57,7 @@ public boolean baiser;
   }
   @Override
   public void periodic() {
-    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);
+
   }
 
 public boolean basd() {
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index 58d30f8..abdddaf 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -21,6 +21,8 @@ public class Limelight extends SubsystemBase {
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
+    CameraServer.startAutomaticCapture();
+    teb .add("limelight", 0.1);
     PortForwarder.add(5800, "photonvision.local", 5800);
   }
 
@@ -58,7 +60,5 @@ public class Limelight extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    CameraServer.startAutomaticCapture();
-    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 cb92af3..0ba43ff 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -24,16 +24,10 @@ public class BrasTelescopique extends SubsystemBase {
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
   .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
-<<<<<<< HEAD
  ShuffleboardLayout bras = Shuffleboard.getTab("teb")
  .getLayout("bras", BuiltInLayouts.kList)
  .withSize(2, 2);
-=======
   
-ShuffleboardLayout bras = Shuffleboard.getTab("teb")
-.getLayout("bras", BuiltInLayouts.kList)
-.withSize(2, 2);
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java
index a8a7c81..6044d4c 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pince.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pince.java
@@ -8,7 +8,6 @@ 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 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 e82eecc..7fa1c28 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -14,11 +14,8 @@ 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");
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
+ ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -27,6 +24,10 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
+  public Pivot(){
+    teb .add ("encodeurpivot",0.1);
+    teb .add ("limitpivot",0.1);
+  }
   // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
@@ -40,17 +41,6 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
   }
   @Override
   public void periodic() {
-    teb .add("encodeur", 0.1);
-    teb .add ("encodeur pivot",0.1);
   }
-<<<<<<< HEAD
-}
-  
- 
+}  
 
-=======
-  {
-  teb.add ("encodeur pivot",0.1);
- }
-}
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0

From 6208839355028b4d422dfafd4a7576a27bf76efd Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 7 Mar 2023 19:56:20 -0500
Subject: [PATCH 03/17] h

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

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3b8b887..3520c0f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -34,7 +34,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux;
 
 
 public class RobotContainer {
-   CameraServer.startAutomaticCapture();
+CameraServer.startAutomaticCapture();
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems

From c8ed4a3ff2ef29eee491382efe4409f912e3dc4c Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 7 Mar 2023 19:59:45 -0500
Subject: [PATCH 04/17] g

---
 .../java/frc/robot/subsystems/bras/BrasTelescopique.java | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 0ba43ff..e10ed52 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -29,7 +29,10 @@ public class BrasTelescopique extends SubsystemBase {
  .withSize(2, 2);
   
   /** Creates a new BrasTelescopique. */
-  public BrasTelescopique() {}
+  public BrasTelescopique() {
+    teb .add("photocell",0.1);
+    teb .add("winch",0.1);
+    bras.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);
@@ -53,8 +56,6 @@ public class BrasTelescopique extends SubsystemBase {
     }
   @Override
   public void periodic() {
-    teb .add("photocell",0.1);
-    teb .add("winch",0.1);
-    bras.add ("encodeur",0.1);
+    
   }
 }
\ No newline at end of file

From a50cbc2cf5643bf54839bb1e5520aa0bf79cd925 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 7 Mar 2023 20:01:30 -0500
Subject: [PATCH 05/17] wdes

---
 src/main/java/frc/robot/RobotContainer.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3520c0f..710e70d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-import edu.wpi.first.cameraserver.CameraServer;
+//import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -34,7 +34,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux;
 
 
 public class RobotContainer {
-CameraServer.startAutomaticCapture();
+//CameraServer.startAutomaticCapture();
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems

From 64556db1cdf87628040a1dff60884d7848a2b896 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Mar 2023 20:03:12 -0500
Subject: [PATCH 06/17] tfghjkm

---
 src/main/java/frc/robot/RobotContainer.java   | 31 +++++++++------
 .../frc/robot/commands/GratteBaisser.java     |  8 ++--
 .../java/frc/robot/commands/GratteMonte.java  |  4 +-
 .../java/frc/robot/subsystems/Gratte.java     | 38 ++++++++++++-------
 4 files changed, 51 insertions(+), 30 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index eef6f29..3734664 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -18,6 +18,7 @@ import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
 import pabeles.concurrency.ConcurrencyOps.Reset;
 import frc.robot.subsystems.Limelight;
+import frc.robot.commands.Apriltag;
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
@@ -35,6 +36,7 @@ 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 edu.wpi.first.math.spline.CubicHermiteSpline;
 import frc.robot.commands.Cube;
 import frc.robot.commands.Cone;
 import frc.robot.commands.Tape;
@@ -62,6 +64,12 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
 PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
+PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
+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);
+
 public RobotContainer() {
     configureBindings();
 
@@ -71,23 +79,24 @@ public RobotContainer() {
     
 }
 
-  private boolean configureBindings() {
+  private void 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));
+    manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
+    manette1.leftBumper().toggleOnTrue(aprilTag);
+    manette1.rightBumper().toggleOnTrue(tape);
     // 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.a().onTrue(pivoteBrasHaut);
+    manette2.b().onTrue(pivoteBrasBas);
+    manette2.x().onTrue(pivoteBrasMilieux);
+    manette2.y().onTrue(pivotBrasRentre);
+    manette2.povRight().onTrue(pivotChercheBas);
+    manette2.povLeft().onTrue(pivotChercheHaut);
+    manette2.rightBumper().toggleOnTrue(cube);
+    manette2.leftBumper().toggleOnTrue(cone);    
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java
index 8984475..61c7240 100644
--- a/src/main/java/frc/robot/commands/GratteBaisser.java
+++ b/src/main/java/frc/robot/commands/GratteBaisser.java
@@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  gratte.setenHaut(false);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -41,9 +43,7 @@ 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/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java
index 3581712..507b90d 100644
--- a/src/main/java/frc/robot/commands/GratteMonte.java
+++ b/src/main/java/frc/robot/commands/GratteMonte.java
@@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    gratte.setenHaut(true);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 3f727ef..0934180 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -5,6 +5,11 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import javax.swing.text.StyledEditorKit.BoldAction;
+
+import org.apache.commons.collections4.functors.IfClosure;
+
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -25,8 +30,16 @@ 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 baiser;
+  boolean enHaut = true;
+  public void setenHaut(boolean enHaut){
+    this.enHaut = enHaut;
+  }
+  public boolean getenHaut(){
+    return enHaut;
+    
+  }
+
   public boolean hautd(){
     return limithd.get();
   }
@@ -35,14 +48,19 @@ public boolean baiser;
     return limithg.get();
   }
 
-  public boolean basd(int i, String string){
+  public boolean basd(){
     return limitbd.get();
   }
   public boolean basg(){
     return limitbg.get();
   }
   /** Creates a new Gratte. */
-  public Gratte() {}
+  public Gratte() {
+   
+  }
+  
+  
+
   public void Lever(double vitesse){
     Gratted.set(vitesse);
     Gratteg.set(vitesse);
@@ -52,18 +70,10 @@ public boolean baiser;
     Gratteg.set(-vitesse);
   }
   @Override
-  public void periodic() {
-    teb .add("limithd", 0.1);
-    teb .add("limithg", 0.1);
-    teb .add("limitbd", 0.1);
-    teb .add("limitbg", 0.1);
+  public void periodic(){
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
   }
-
-public boolean basd() {
-    return false;
-}
-}
+}
\ No newline at end of file

From d461720da61b0b252ef524e242983c0eff377d91 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 7 Mar 2023 20:05:55 -0500
Subject: [PATCH 07/17] fdvhnbm

---
 src/main/java/frc/robot/RobotContainer.java   | 23 +-----------------
 .../java/frc/robot/subsystems/Gratte.java     | 24 ++-----------------
 2 files changed, 3 insertions(+), 44 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bfb40f7..bfc6d3b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -32,17 +32,11 @@ import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
-<<<<<<< HEAD
 import frc.robot.commands.bras.PivotChercheBas;
 import frc.robot.commands.bras.PivotChercheHaut;
-import edu.wpi.first.apriltag.AprilTag;
-import edu.wpi.first.math.spline.CubicHermiteSpline;
 import frc.robot.commands.Cube;
-import frc.robot.commands.Cone;
 import frc.robot.commands.Tape;
-=======
 
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
 
 public class RobotContainer {
 //CameraServer.startAutomaticCapture();
@@ -84,15 +78,11 @@ public RobotContainer() {
 }
 
   private void configureBindings() {
-<<<<<<< HEAD
     // manette 1
-=======
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
     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));
-<<<<<<< HEAD
     manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
     manette1.leftBumper().toggleOnTrue(aprilTag);
     manette1.rightBumper().toggleOnTrue(tape);
@@ -104,18 +94,7 @@ public RobotContainer() {
     manette2.povRight().onTrue(pivotChercheBas);
     manette2.povLeft().onTrue(pivotChercheHaut);
     manette2.rightBumper().toggleOnTrue(cube);
-    manette2.leftBumper().toggleOnTrue(cone);    
-=======
-    /*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));**/
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
+    manette2.leftBumper().toggleOnTrue(cone);
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index df518c7..056c6da 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -3,13 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.subsystems;
-
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-import javax.swing.text.StyledEditorKit.BoldAction;
-
-import org.apache.commons.collections4.functors.IfClosure;
-
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -53,22 +47,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   public boolean basg(){
     return limitbg.get();
   }
-  /** Creates a new Gratte. */
-<<<<<<< HEAD
-  public Gratte() {
-   
-  }
-  
-  
-
-=======
+ 
   public Gratte() {   
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
   }
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
   public void Lever(double vitesse){
     Gratted.set(vitesse);
     Gratteg.set(vitesse);
@@ -78,15 +63,10 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     Gratteg.set(-vitesse);
   }
   @Override
-<<<<<<< HEAD
   public void periodic(){
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
-=======
-  public void periodic() {
-
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
-  }
+}
 }
\ No newline at end of file

From 407603ab1fdb564bb2b1fc0a7b834e6980ab58e7 Mon Sep 17 00:00:00 2001
From: Olivier Demers <olidem123@gmail.com>
Date: Wed, 8 Mar 2023 14:02:31 +0000
Subject: [PATCH 08/17] Deleted
 bin/main/frc/robot/subsystems/BasePilotable.class

---
 .../frc/robot/subsystems/BasePilotable.class     | Bin 4945 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 bin/main/frc/robot/subsystems/BasePilotable.class

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
deleted file mode 100644
index 97e4d2ea02ea1f4aecc4b5d209cb7cce22189f01..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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Zf5$&KhB&(m|HO;OYWVr=6#jjz=KpCZN&^4@


From cea457445cc5bdbc04e400672d85c43ce2d67800 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Mar 2023 18:13:47 -0500
Subject: [PATCH 09/17] kjgu][f

---
 .../frc/robot/subsystems/BasePilotable.class  | Bin 5139 -> 4598 bytes
 .../frc/robot/subsystems/BasePilotable.java   |   7 +------
 .../subsystems/bras/BrasTelescopique.java     |  13 ++-----------
 3 files changed, 3 insertions(+), 17 deletions(-)

diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 30a8c07ebc00cf5bf07e74c7c45acc8d79238caf..3d8632d713bee88e3047c13241dd62670346323e 100644
GIT binary patch
literal 4598
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z%CU<D9@t!^%$(<$Y8_=6htq1poSvpZdC%0Wgpg20H0@~Fl8w9TY){xlVwbWlBX64-
zaZ`U+>GTHANJ}_UXR|w7oSwFfw5>UWwrVh`rKu`1bIGw?-7e7l0N|`v)J#iDyJ}vW
zzo-hQ_K!@YxVB}+@U;Al#ib3gctS$spq()ykg!d`E!YypZP+2>b_v^sr|KwDa0fa9
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diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index fb14cae..d8ce05a 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -12,9 +12,7 @@ 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;
@@ -33,9 +31,6 @@ 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 ("distance", BuiltInLayouts.kList)
-  .withSize(2, 2);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
     return gyroscope.getPitch();
@@ -70,7 +65,7 @@ public void resetGyro(){
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
-    layout .addDouble("distance", this::distance);
+    teb .addDouble("distance", this::distance);
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index e10ed52..f553764 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -12,27 +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 layout = Shuffleboard.getTab("teb")
-  .getLayout("layout", BuiltInLayouts.kList)
-  .withSize(2, 2);
- ShuffleboardLayout bras = Shuffleboard.getTab("teb")
- .getLayout("bras", BuiltInLayouts.kList)
- .withSize(2, 2);
-  
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");  
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {
     teb .add("photocell",0.1);
     teb .add("winch",0.1);
-    bras.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);

From 3d2364b54822fb53a6cd71a0347d11baeef62001 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Mar 2023 18:17:44 -0500
Subject: [PATCH 10/17] jhg

---
 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 f553764..c6f6e5b 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -23,7 +23,7 @@ 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);

From 286ea352ffc3e0c46e6d4efb031b9e406915197c Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 8 Mar 2023 18:21:27 -0500
Subject: [PATCH 11/17] r

---
 src/main/java/frc/robot/commands/Gyro.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index d38b4a2..4d60319 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -25,11 +25,11 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>4) 
    { 
-    basePilotable.drive(0.3, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
-    basePilotable.drive(-0.3, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
    }
    else
    {

From 00f9a623ae39d86c344f548606bd9fe4348f2a28 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Mar 2023 18:32:47 -0500
Subject: [PATCH 12/17] 'jrhsgohv

---
 src/main/java/frc/robot/RobotContainer.java    | 3 ++-
 src/main/java/frc/robot/subsystems/Gratte.java | 8 ++------
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bfc6d3b..0a1dcc2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+import edu.wpi.first.cameraserver.CameraServer;
 //import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -70,7 +71,7 @@ Tape tape = new Tape(limelight, basePilotable, null);
 
 public RobotContainer() {
     configureBindings();
-
+    CameraServer.startAutomaticCapture();
     basePilotable.setDefaultCommand(new RunCommand(() -> {
       basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
     },basePilotable));
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 056c6da..a90d859 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -48,7 +48,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     return limitbg.get();
   }
  
-  public Gratte() {   
+  public Gratte() { 
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
@@ -64,9 +64,5 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   }
   @Override
   public void periodic(){
-    limitswitchgratte.add ("limitbd", 0.1);
-    limitswitchgratte.add ("limithg", 0.1);
-    limitswitchgratte.add ("limithd", 0.1);
-    limitswitchgratte.add ("limitbg", 0.1);
-}
+ }
 }
\ No newline at end of file

From ede4116cd9bd14d0520e48e6c195a6729a77b3a8 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 8 Mar 2023 18:33:29 -0500
Subject: [PATCH 13/17] gt

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

diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index 2350667..9665ecb 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -30,19 +30,16 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>4) 
    { 
-<<<<<<< HEAD
     basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
-=======
     basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
->>>>>>> 3d2364b54822fb53a6cd71a0347d11baeef62001
    }
    else
    {

From 2dab0d5dc74cb6c65a3f1c265c16fc3738964531 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Mar 2023 18:41:20 -0500
Subject: [PATCH 14/17] jjj

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

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 21a327e..9542fb6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,7 +4,6 @@
 
 package frc.robot;
 import edu.wpi.first.cameraserver.CameraServer;
-//import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;

From 4e6c8413d97064fbc2b9f27d9aa1ff84e5dcad80 Mon Sep 17 00:00:00 2001
From: EdwardFaucher <ef4366675@gmail.com>
Date: Wed, 8 Mar 2023 18:50:24 -0500
Subject: [PATCH 15/17] fe

---
 src/main/java/frc/robot/RobotContainer.java | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9542fb6..669f3f5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -80,9 +80,7 @@ public RobotContainer() {
 }
   
   private void configureBindings() {
-    basePilotable.setDefaultCommand(new RunCommand(() -> {
-      basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX());
-    },basePilotable));
+ 
     // manette 1
     manette1.povDown().onTrue(pivoteBrasHaut);
     manette1.povUp().onTrue(pivoteBrasBas);

From 99ce225dc62b77c9d29c823ee2284d1017e529eb Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Mar 2023 19:11:46 -0500
Subject: [PATCH 16/17] df

---
 .../frc/robot/subsystems/BasePilotable.java   | 37 ++++++++++---------
 1 file changed, 19 insertions(+), 18 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 9c1b909..cc90ca1 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -7,22 +7,25 @@ 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;
 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;
 
 public class BasePilotable extends SubsystemBase {
-  final CANSparkMax avantd = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
+  final CANSparkMax avantdroit = 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(avantd, arrieredroit);
+  final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
   
@@ -31,26 +34,35 @@ 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();
   }
 
-  public void drive(double xSpeed, double zRotation){
+  public void drive(double xSpeed, double zRotation, int i){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
-    return (-avantd.getEncoder().getPosition()
+    teb .add ("distance",0.1);
+    return (-avantdroit.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()
     -arrieredroit.getEncoder().getPosition()
     +arrieregauche.getEncoder().getPosition()) / 4;
   }
   public void Reset() {
-    avantd.getEncoder().setPosition(0);
+    avantdroit.getEncoder().setPosition(0);
     avantgauche.getEncoder().setPosition(0);
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);
   }
+  public void resetGyro(){
+    {gyroscope.reset();
+    }
+  } 
+
 public void BrakeOuvre(){
   brakedroit.set(Value.kForward);
   brakegauche.set(Value.kForward);
@@ -59,24 +71,13 @@ public void BrakeFerme(){
   brakedroit.set(Value.kReverse);
   brakegauche.set(Value.kReverse);
 }
-public void resetGyro(){
-  {gyroscope.reset();} 
- }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
-    teb .addDouble("distance", this::distance);
   }
 
   @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);
-    //teb .add("brakedroit",0.1);
-    //teb .add("brakegauche", 0.1);
-
+  
   }
-}
\ No newline at end of file
+}

From fc4607f3c6d7203a155182eded4626d37f75de5e Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 8 Mar 2023 19:14:16 -0500
Subject: [PATCH 17/17] rft

---
 src/main/java/frc/robot/RobotContainer.java    |  9 ++++-----
 src/main/java/frc/robot/commands/Apriltag.java |  2 +-
 src/main/java/frc/robot/commands/Cone.java     |  2 +-
 src/main/java/frc/robot/commands/Cube.java     |  2 +-
 src/main/java/frc/robot/commands/Gyro.java     | 10 +++++-----
 src/main/java/frc/robot/commands/Reculer.java  |  2 +-
 src/main/java/frc/robot/commands/Tape.java     |  2 +-
 7 files changed, 14 insertions(+), 15 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 669f3f5..3612eaa 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,7 +7,6 @@ import edu.wpi.first.cameraserver.CameraServer;
 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;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 //subsystems
@@ -25,7 +24,6 @@ import frc.robot.commands.Cone;
 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;
@@ -33,7 +31,6 @@ import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
 //subsystems
-import frc.robot.subsystems.BasePilotable;
 import frc.robot.commands.bras.PivotChercheBas;
 import frc.robot.commands.bras.PivotChercheHaut;
 import frc.robot.commands.Cube;
@@ -74,13 +71,15 @@ public RobotContainer() {
     configureBindings();
     CameraServer.startAutomaticCapture();
     basePilotable.setDefaultCommand(new RunCommand(() -> {
-      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
+      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/commands/Apriltag.java b/src/main/java/frc/robot/commands/Apriltag.java
index 9ef54b3..3ef6b06 100644
--- a/src/main/java/frc/robot/commands/Apriltag.java
+++ b/src/main/java/frc/robot/commands/Apriltag.java
@@ -32,7 +32,7 @@ public class Apriltag extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Cone.java b/src/main/java/frc/robot/commands/Cone.java
index d780293..8121b19 100644
--- a/src/main/java/frc/robot/commands/Cone.java
+++ b/src/main/java/frc/robot/commands/Cone.java
@@ -32,7 +32,7 @@ public class Cone extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Cube.java b/src/main/java/frc/robot/commands/Cube.java
index d54839e..2bd023f 100644
--- a/src/main/java/frc/robot/commands/Cube.java
+++ b/src/main/java/frc/robot/commands/Cube.java
@@ -32,7 +32,7 @@ public class Cube extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index 9665ecb..ffeca0a 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -30,20 +30,20 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>4) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
    }
    else if(basePilotable.getpitch()<-4) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0, 0);
    }
    else
    {
-     basePilotable.drive(0, 0); 
+     basePilotable.drive(0, 0, 0); 
    }
 }
 
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index 7ff9989..674ef40 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -27,7 +27,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0);
+    basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0, 0);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Tape.java b/src/main/java/frc/robot/commands/Tape.java
index e1346f0..e240da4 100644
--- a/src/main/java/frc/robot/commands/Tape.java
+++ b/src/main/java/frc/robot/commands/Tape.java
@@ -32,7 +32,7 @@ public class Tape extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
   }
 
   // Called once the command ends or is interrupted.