From 355e1ff9032e8fc9ab8c6ecd2357c880adc7cece Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 19 Feb 2024 19:14:19 -0500
Subject: [PATCH]

---
 src/main/deploy/pathplanner/autos/R.H.3.auto   |  9 ++++++++-
 src/main/java/frc/robot/subsystem/Lanceur.java | 14 --------------
 2 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/R.H.3.auto b/src/main/deploy/pathplanner/autos/R.H.3.auto
index eb497e4..8d112a0 100644
--- a/src/main/deploy/pathplanner/autos/R.H.3.auto
+++ b/src/main/deploy/pathplanner/autos/R.H.3.auto
@@ -33,7 +33,14 @@
         {
           "type": "parallel",
           "data": {
-            "commands": []
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "6.1"
+                }
+              }
+            ]
           }
         }
       ]
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index 13967a0..0e2b6a7 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -46,20 +46,6 @@ public class Lanceur extends SubsystemBase {
     lanceur4.getPIDController().setI(0.5);
     lanceur4.getPIDController().setD(0.5);
   }
-  public void pidampli(){
-    lanceur1.getPIDController().setP(0.1);
-    lanceur1.getPIDController().setI(0.1);
-    lanceur1.getPIDController().setD(0.1);
-    lanceur2.getPIDController().setP(0.1);
-    lanceur1.getPIDController().setI(0.1);
-    lanceur2.getPIDController().setD(0.1);
-    lanceur3.getPIDController().setP(0.1);
-    lanceur3.getPIDController().setI(0.1);
-    lanceur3.getPIDController().setD(0.1);
-    lanceur4.getPIDController().setP(0.1);
-    lanceur4.getPIDController().setI(0.1);
-    lanceur4.getPIDController().setD(0.1);
-  }
   public void lancer(double vitesse){
     lanceur1.set(-vitesse);
     lanceur2.set(-vitesse);