From f1f39340802a740f3b8615a364df5397b995fc9e Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 27 Feb 2024 18:57:01 -0500
Subject: [PATCH] asfdg

---
 src/main/deploy/swerve/modules/backleft.json        | 2 +-
 src/main/deploy/swerve/modules/backright.json       | 2 +-
 src/main/deploy/swerve/modules/frontleft.json       | 2 +-
 src/main/deploy/swerve/modules/frontright.json      | 2 +-
 src/main/java/frc/robot/command/LancerAmp.java      | 2 +-
 src/main/java/frc/robot/subsystem/Accumulateur.java | 4 ++--
 src/main/java/frc/robot/subsystem/Lanceur.java      | 4 ++--
 7 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index 50df969..3f166f4 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": 0.416259765625,
+  "absoluteEncoderOffset":299.443,
   "drive": {
     "type": "sparkmax",
     "id": 8,
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index f2e6b3f..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": -0.023193359375,
+  "absoluteEncoderOffset": 95.537,
   "drive": {
     "type": "sparkmax",
     "id": 11,
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index efab94a..c2dda00 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": 0.2744140625,
+  "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 18c69fb..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": -0.297119140625,
+  "absoluteEncoderOffset": 200.215,
   "drive": {
     "type": "sparkmax",
     "id": 18,
diff --git a/src/main/java/frc/robot/command/LancerAmp.java b/src/main/java/frc/robot/command/LancerAmp.java
index fe1b5bb..35d02da 100644
--- a/src/main/java/frc/robot/command/LancerAmp.java
+++ b/src/main/java/frc/robot/command/LancerAmp.java
@@ -27,7 +27,7 @@ public class LancerAmp extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = 0.15;
+    double vitesse = 0.3;
     lancer.lanceramp();
     if(lancer.vitesse(vitesse)>vitesse){
       accumulateur.Accumuler();
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index 4d68ad3..2ac43e8 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", 0.5)
+      dashboard.add("vitesseacc", 0.6)
       .withSize(1, 1)
       .withPosition(0, 0)
       .getEntry(); 
@@ -41,7 +41,7 @@ public class Accumulateur extends SubsystemBase {
     Moteuracc2.set(-vitesse);
   }
   public void Accumuler(){
-    Accumuler(vitesse.getDouble(0.5));
+    Accumuler(vitesse.getDouble(0.6));
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index ce081fb..0cf7f2a 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -31,7 +31,7 @@ public class Lanceur extends SubsystemBase {
       .withPosition(2,0)
          .getEntry();         
           private GenericEntry vitesseamp =
-            dashboard.add("vitesseamp", 0.15)
+            dashboard.add("vitesseamp", 0.3)
             .withSize(1, 1)
             .withPosition(1,0)
               .getEntry();
@@ -90,7 +90,7 @@ public class Lanceur extends SubsystemBase {
     lancer(vitesse.getDouble(0.8));
   }
   public void lanceramp(){
-    lancer(vitesseamp.getDouble(0.1));
+    lancer(vitesseamp.getDouble(0.3));
   }
   public double vitesse(double vitesse){
     return lanceur3.getEncoder().getVelocity();