From 9c9d821939f1bc51ba738a25d4be0bacc57f1021 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Sat, 17 Feb 2024 13:27:27 -0500
Subject: [PATCH] b

---
 src/main/java/frc/robot/RobotContainer.java         | 1 +
 src/main/java/frc/robot/command/Balayer.java        | 2 +-
 src/main/java/frc/robot/subsystem/Accumulateur.java | 8 ++++----
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index cecc364..0b43edf 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -79,6 +79,7 @@ public class RobotContainer {
     CameraServer.startAutomaticCapture();
     manette.a().whileTrue(new GuiderBas(guideur));
     manette.b().whileTrue(new GuiderHaut(guideur));
+    manette.x().whileTrue(new PistonFerme(grimpeur));
     joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur));
     joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
     joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java
index 58e3531..01a230d 100644
--- a/src/main/java/frc/robot/command/Balayer.java
+++ b/src/main/java/frc/robot/command/Balayer.java
@@ -29,7 +29,7 @@ public class Balayer extends Command {
     accumulateur.Accumuler();
   }
   else{
-    balayeuse.balaye(0.6);
+    balayeuse.balaye(0.3);
     accumulateur.Accumuler();
   }
 }
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index f85e6c3..1e7a558 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -18,7 +18,7 @@ public class Accumulateur extends SubsystemBase {
  
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
    private GenericEntry vitesse =
-      dashboard.add("vitesseacc", 1)
+      dashboard.add("vitesseacc", 0.1)
       .withSize(1, 1)
       .withPosition(4, 3)
       .getEntry(); 
@@ -41,11 +41,11 @@ public class Accumulateur extends SubsystemBase {
     dashboard.addBoolean("limitacc", this::limitswitch);
   }
   public void Accumuler(double vitesse){
-    Moteuracc.set(vitesse);
-    Moteuracc2.set(vitesse);
+    Moteuracc.set(-vitesse);
+    Moteuracc2.set(-vitesse);
   }
   public void Accumuler(){
-    Accumuler(vitesse.getDouble(0.1));
+    Accumuler(vitesse.getDouble(0.3));
   }
 
   @Override