From 0294b52c0fcf0dcca5a4066e2d427f76a7517762 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 14 Feb 2024 18:56:52 -0500
Subject: [PATCH] m

---
 simgui.json                                    | 15 ---------------
 src/main/deploy/swerve/modules/backleft.json   |  4 ++--
 src/main/deploy/swerve/modules/backright.json  |  4 ++--
 src/main/deploy/swerve/modules/frontleft.json  |  2 +-
 src/main/deploy/swerve/modules/frontright.json |  2 +-
 src/main/java/frc/robot/RobotContainer.java    |  2 +-
 6 files changed, 7 insertions(+), 22 deletions(-)

diff --git a/simgui.json b/simgui.json
index fb42214..a59e1b2 100644
--- a/simgui.json
+++ b/simgui.json
@@ -1,10 +1,5 @@
 {
   "HALProvider": {
-    "DIO": {
-      "window": {
-        "visible": true
-      }
-    },
     "Other Devices": {
       "SPARK MAX [10]": {
         "header": {
@@ -52,16 +47,6 @@
         }
       }
     },
-    "Solenoids": {
-      "0": {
-        "header": {
-          "open": true
-        }
-      },
-      "window": {
-        "visible": true
-      }
-    },
     "Timing": {
       "window": {
         "visible": false
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index 0359ff1..a42b4ff 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 120.762,
+  "absoluteEncoderOffset": 299.443,
   "drive": {
     "type": "sparkmax",
     "id": 8,
@@ -24,7 +24,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 7,
+    "id": 6,
     "canbus": null
   }
 }
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index 710a53a..41915eb 100644
--- a/src/main/deploy/swerve/modules/backright.json
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 96.768,
+  "absoluteEncoderOffset": 95.537,
   "drive": {
     "type": "sparkmax",
     "id": 11,
@@ -24,7 +24,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 6,
+    "id": 7,
     "canbus": null
   }
 }
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index e7c7240..64f8268 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 170.244,
+  "absoluteEncoderOffset": 348.223 ,
   "drive": {
     "type": "sparkmax",
     "id": 2,
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index fac40c7..36202ee 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 198.105,
+  "absoluteEncoderOffset": 200.215,
   "drive": {
     "type": "sparkmax",
     "id": 18,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4a68b42..addad69 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -87,7 +87,7 @@ public class RobotContainer {
     // deplacement
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
+     drive.drive(MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(joystick.getX(),0.2), MathUtil.applyDeadband(joystick.getZ(), 0.2));
     },drive));
 
     // grimpeur manuel