From cdca0230a40006d59306118404683039f2bf561f Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 1 Apr 2026 19:13:25 -0400
Subject: [PATCH] bouge mieux

---
 .../java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java    | 2 +-
 src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java     | 4 ++--
 .../java/frc/robot/commands/ModeAuto/GrimperReservoir.java    | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java b/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
index e4a3748..c44fc06 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
@@ -56,7 +56,7 @@ public class BougerGaucheAuto extends Command {
     }
     else{
       if(timer.get() < 0.75){
-        drivetrain.setControl(drive.withVelocityY(-1.5));
+        drivetrain.setControl(drive.withVelocityY(1.5));
       }
       else{
         drivetrain.setControl(drive.withVelocityY(0));
diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
index 5eb1bf1..e38a60d 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
@@ -65,7 +65,7 @@ public class GrimperMur extends Command {
       angle = angle + 360;
     }
     if(alliance.get() == Alliance.Blue){
-     y = 5;
+     y = 5.4;
      x = 1.11;
      angle = 0;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
@@ -81,7 +81,7 @@ public class GrimperMur extends Command {
     }
     }
     else{
-     x = 11.45966;
+     x = 15.6;
      y = 6.959326;
      angle = 180;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){
diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
index 68e5d77..4d50eb3 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
@@ -70,10 +70,10 @@ public class GrimperReservoir extends Command {
         pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
         System.out.println(pigeonAngle);
       y = 5.4;
-      x = 15.4;
+      x = 15.6;
       angle = 180;
       if(pigeonAngle< 190 && pigeonAngle> 170){
-        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)));
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*5.5),-2,2)));
       }
       else{
         if(pigeonAngle>180){