rft

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.

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.

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.

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); 
    }
 }
 

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.

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.