From 52c72e9a6153a04e977a4760b0aafbb7d96bad19 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 31 Mar 2026 19:52:24 -0400
Subject: [PATCH] inverser

---
 src/main/java/frc/robot/RobotContainer.java   |  2 +
 .../java/frc/robot/commands/Inverser.java     | 42 +++++++++++++++++++
 2 files changed, 44 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/Inverser.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ce353e8..f4d6ba0 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,6 +20,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
+import frc.robot.commands.Inverser;
 import frc.robot.commands.Lancer;
 import frc.robot.commands.LancerAspirer;
 import frc.robot.commands.LancerBaseVitesse;
@@ -132,6 +133,7 @@ public class RobotContainer {
     manette1.y().whileTrue(new ModeOposerBalayeuse(balayeuse));
     manette1.povRight().whileTrue(new BougerDroiteAuto(drivetrain));
     manette1.povLeft().whileTrue(new BougerGaucheAuto(drivetrain));
+    manette1.start().whileTrue(new Inverser(drivetrain));
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/Inverser.java b/src/main/java/frc/robot/commands/Inverser.java
new file mode 100644
index 0000000..3b8f0a0
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Inverser.java
@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Inverser extends Command {
+  CommandSwerveDrivetrain drivetrain;
+  boolean inverse = false;
+  /** Creates a new Inverser. */
+  public Inverser(CommandSwerveDrivetrain drivetrain) {
+    addRequirements(drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(!inverse){
+      drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
+      inverse = true;
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}