resolve le conflicts

im french now

diff --cc src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
index 90f0c5ea9da1da7b3eca3b4327c3503e663ee59f,7f8a6131e790b1f5d38ee33288a38f9d2148f949..f0dde8a0831037af7329eb8cfe42d55002867e80
--- 1/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
--- 2/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
+++ b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
@@@ -2,9 -2,7 +2,8 @@@ package frc.robot.commands.drive_comm
  
  import org.littletonrobotics.junction.Logger;
  
 +import edu.wpi.first.math.controller.PIDController;
  import edu.wpi.first.math.geometry.Rectangle2d;
- import edu.wpi.first.math.geometry.Rotation2d;
  import edu.wpi.first.math.kinematics.ChassisSpeeds;
  import edu.wpi.first.math.util.Units;
  import edu.wpi.first.wpilibj.DriverStation.Alliance;

diff --cc src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 97e9b950ac0711568638374e81b93a8b51629fd8,ee9ffd0e203d32cfa33e5e489f9fed95cb07bff6..fab66215c40b7702d3707919502df10fc5ee334e
--- 1/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
--- 2/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@@ -23,7 -31,7 +32,7 @@@ import lib.controllers.PS5Controller.PS
   * Driver controls for the PS5 controller
   */
  public class PS5ControllerDriverConfig extends BaseDriverConfig {
-     public final PS5Controller controller = new PS5Controller(Constants.DRIVER_JOY);
 -    private final PS5Controller driver = new PS5Controller(Constants.DRIVER_JOY);
++    private final PS5Controller controller = new PS5Controller(Constants.DRIVER_JOY);
      private final BooleanSupplier slowModeSupplier = () -> false;
      private boolean intakeBoolean = true;
      private Command autoShoot = null;
@@@ -46,7 -66,7 +67,7 @@@
                  new Rotation2d(Robot.getAlliance() == Alliance.Blue ? 0 : Math.PI))));
  
          // Cancel commands
-         controller.get(PS5Button.RIGHT_TRIGGER).onTrue(new InstantCommand(() -> {
 -        driver.get(PS5Button.RB).onTrue(new InstantCommand(() -> {
++        controller.get(PS5Button.RB).onTrue(new InstantCommand(() -> {
              getDrivetrain().setIsAlign(false);
              getDrivetrain().setDesiredPose(() -> null);
              CommandScheduler.getInstance().cancelAll();
@@@ -59,73 -79,106 +80,108 @@@
                  interrupted -> getDrivetrain().setStateDeadband(true),
                  () -> false, getDrivetrain()).withTimeout(2));
  
-         controller.get(PS5Button.CROSS).onTrue(new InstantCommand(() -> getDrivetrain().setTrenchAlign(true)))
-             .onFalse(new InstantCommand(() -> getDrivetrain().setTrenchAlign(false)));
+         // Trench align
 -        driver.get(DPad.LEFT).onTrue(new InstantCommand(() -> getDrivetrain().setTrenchAlign(true)))
++        controller.get(DPad.LEFT).onTrue(new InstantCommand(() -> getDrivetrain().setTrenchAlign(true)))
+                 .onFalse(new InstantCommand(() -> getDrivetrain().setTrenchAlign(false)));
  
 -        // Trench assist
 -        driver.get(DPad.RIGHT).onTrue(new InstantCommand(() -> getDrivetrain().setTrenchAssist(true)))
 -                .onFalse(new InstantCommand(() -> getDrivetrain().setTrenchAssist(false)));
 +        controller.get(PS5Button.CIRCLE).onTrue(new InstantCommand(() -> {getDrivetrain().setTrenchAssist(true); getDrivetrain().setTrenchAlign(true);}))
 +            .onFalse(new InstantCommand(() -> {getDrivetrain().setTrenchAssist(false); getDrivetrain().setTrenchAlign(false);}));
 +
 +        controller.get(DPad.LEFT).onTrue(new InstantCommand(() -> {getDrivetrain().setTrenchAssist(true); getDrivetrain().setTrenchAlign(true);}))
 +            .onFalse(new InstantCommand(() -> {getDrivetrain().setTrenchAssist(false); getDrivetrain().setTrenchAlign(false);}));
  
- 
- 
- 
-         // // Intake
-         // if (intake != null) {
-         //     driver.get(PS5Button.CROSS).onTrue(new InstantCommand(() -> {
-         //         if (intakeBoolean) {
-         //             intake.extend();
-         //             intake.spinStart();
-         //             intakeBoolean = false;
-         //         } else {
-         //             intake.intermediateExtend();
-         //             intake.spinStop();
-         //             intakeBoolean = true;
-         //         }
-         //     }));
- 
-         //     // Retract if hold for 3 seconds
-         //     driver.get(PS5Button.CROSS).debounce(3.0).onTrue(new InstantCommand(()->{
-         //         intake.retract();
-         //         intakeBoolean = true;
-         //     }));
- 
-         //     // Calibration
-         //     driver.get(PS5Button.OPTIONS).onTrue(new InstantCommand(()->{
-         //         intake.calibrate();
-         //     })).onFalse(new InstantCommand(()->{
-         //         intake.stopCalibrating();
-         //     }));
-         // }
- 
-         // // Spindexer
-         // if (spindexer != null){
-         //     // Will only run if we are not calling default shoot command
-         //     driver.get(PS5Button.LB).onTrue(new InstantCommand(()-> spindexer.maxSpindexer()))
-         //     .onFalse(new InstantCommand(()-> spindexer.stopSpindexer()));
-         // }
- 
-         // // Auto shoot
-         // if (turret != null) {
-         //     driver.get(PS5Button.SQUARE).onTrue(
-         //             new InstantCommand(() -> {
-         //                 if (autoShoot != null && autoShoot.isScheduled()) {
-         //                     autoShoot.cancel();
-         //                 } else {
-         //                     autoShoot = new AutoShootCommand(turret, getDrivetrain(), hood, shooter, spindexer);
-         //                     CommandScheduler.getInstance().schedule(autoShoot);
-         //                 }
-         //             }));
-         // }
- 
-         // if (climb != null) {
-         //     driver.get(PS5Button.CIRCLE).onTrue(new InstantCommand(() -> {
-         //         climb.hardstopCalibration();
-         //     })).onFalse(new InstantCommand(() -> {
-         //         climb.stopCalibrating();
-         //     }));
-         // }
+         // Reverse motors
+         if (intake != null && spindexer != null && shooter != null) {
 -            driver.get(PS5Button.CIRCLE).onTrue(new InstantCommand(() -> {
++            controller.get(PS5Button.CIRCLE).onTrue(new InstantCommand(() -> {
+                 reverseMotors = new ReverseMotors(intake, spindexer);
+                 reverseMotors.schedule();
+             })).onFalse(new InstantCommand(() -> {
+                 if (reverseMotors != null) {
+                     reverseMotors.cancel();
+                 }
+             }));
+         }
+ 
+         // Intake
+         if (intake != null) {
+             // Toggle intake
 -            driver.get(PS5Button.RIGHT_TRIGGER).onTrue(new InstantCommand(() -> {
++            controller.get(PS5Button.RIGHT_TRIGGER).onTrue(new InstantCommand(() -> {
+                 if (intakeBoolean) {
+                     intake.extend();
+                     intake.spinStart();
+                     intakeBoolean = false;
+                 } else {
+                     intake.intermediateExtend();
+                     intake.spinStop();
+                     intakeBoolean = true;
+                 }
+             }));
+ 
+             // Retract if hold for 3 seconds
 -            driver.get(PS5Button.RIGHT_TRIGGER).debounce(3.0).onTrue(new InstantCommand(() -> {
++            controller.get(PS5Button.RIGHT_TRIGGER).debounce(3.0).onTrue(new InstantCommand(() -> {
+                 intake.retract();
+                 intakeBoolean = true;
+             }));
+ 
+             // Calibration
 -            driver.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
++            controller.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
+                 intake.calibrate();
+             })).onFalse(new InstantCommand(() -> {
+                 intake.stopCalibrating();
+             }));
+         }
+ 
+         // Spindexer
+         if (spindexer != null) {
+             // Will only run if we are not calling default shoot command
 -            driver.get(PS5Button.LEFT_TRIGGER).onTrue(new InstantCommand(() -> spindexer.maxSpindexer()))
++            controller.get(PS5Button.LEFT_TRIGGER).onTrue(new InstantCommand(() -> spindexer.maxSpindexer()))
+                     .onFalse(new InstantCommand(() -> spindexer.stopSpindexer()));
+         }
+ 
+         // Auto shoot
+         if (turret != null && hood != null && shooter != null) {
 -            driver.get(PS5Button.SQUARE).onTrue(
++            controller.get(PS5Button.SQUARE).onTrue(
+                     new InstantCommand(() -> {
+                         if (autoShoot != null && autoShoot.isScheduled()) {
+                             autoShoot.cancel();
+                         } else {
+                             autoShoot = new AutoShootCommand(turret, getDrivetrain(), hood, shooter, spindexer);
+                             CommandScheduler.getInstance().schedule(autoShoot);
+                         }
+                     }));
+         }
+ 
+         // Climb
+         if (climb != null) {
+             // Calibration
 -            driver.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
++            controller.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
+                 climb.hardstopCalibration();
+             })).onFalse(new InstantCommand(() -> {
+                 climb.stopCalibrating();
+             }));
+ 
+             // Climb retract
 -            driver.get(PS5Button.CROSS).onTrue(new InstantCommand(() -> {
++            controller.get(PS5Button.CROSS).onTrue(new InstantCommand(() -> {
+                 climb.retract();
+             }));
+ 
+             // Drive to climb position and rumble
 -            driver.get(PS5Button.TRIANGLE).onTrue(new SequentialCommandGroup(
++            controller.get(PS5Button.TRIANGLE).onTrue(new SequentialCommandGroup(
+                     new ClimbDriveCommand(climb, getDrivetrain()),
+                     new InstantCommand(() -> this.startRumble()),
+                     new WaitCommand(1),
+                     new InstantCommand(() -> this.endRumble())));
+         }
+ 
+         // Hood
+         if (hood != null) {
+             // Calibration
 -            driver.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
++            controller.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
+                 hood.calibrate();
+             })).onFalse(new InstantCommand(() -> {
+                 hood.stopCalibrating();
+             }));
+         }
      }
  
      @Override

diff --cc src/main/java/frc/robot/util/TrenchAssist/TrenchAssistConstants.java
index 48b926510937aca07c06fe22b7cbedef919142d0,8bb4ef4eeff0879dc1aa483ab0097510163e4d84..29a32847636e326a32b4da821cb9a54541111f51
--- 1/src/main/java/frc/robot/util/TrenchAssist/TrenchAssistConstants.java
--- 2/src/main/java/frc/robot/util/TrenchAssist/TrenchAssistConstants.java
+++ b/src/main/java/frc/robot/util/TrenchAssist/TrenchAssistConstants.java
@@@ -2,29 -2,29 +2,29 @@@ package frc.robot.util.TrenchAssist
  
  import edu.wpi.first.math.geometry.Rectangle2d;
  import edu.wpi.first.math.geometry.Translation2d;
 +import edu.wpi.first.math.util.Units;
  
  public class TrenchAssistConstants {
-     public static final Rectangle2d[] OBSTACLES = new Rectangle2d[]{
-         new Rectangle2d(new Translation2d(4.03, 1.28), new Translation2d(5.22, 1.58)),
-         new Rectangle2d(new Translation2d(4.03, 8.07 - 1.28), new Translation2d(5.22, 8.07 - 1.58)),
-         new Rectangle2d(new Translation2d(11.32, 1.28), new Translation2d(12.51, 1.58)),
-         new Rectangle2d(new Translation2d(11.32, 8.07 - 1.28), new Translation2d(12.51, 8.07 - 1.58)),
-     }; //8.07m
+     public static final Rectangle2d[] OBSTACLES = new Rectangle2d[] {
+             new Rectangle2d(new Translation2d(4.03, 1.28), new Translation2d(5.22, 1.58)),
+             new Rectangle2d(new Translation2d(4.03, 8.07 - 1.28), new Translation2d(5.22, 8.07 - 1.58)),
+             new Rectangle2d(new Translation2d(11.32, 1.28), new Translation2d(12.51, 1.58)),
+             new Rectangle2d(new Translation2d(11.32, 8.07 - 1.28), new Translation2d(12.51, 8.07 - 1.58)),
+     }; // 8.07m
  
-     public static final Rectangle2d[] ALIGN_ZONES = new Rectangle2d[]{
-         new Rectangle2d(new Translation2d(4.03 - .5, 0), new Translation2d(5.22 + .5, 3)),
-         new Rectangle2d(new Translation2d(4.03 - .5, 8.07), new Translation2d(5.22 + .5, 8.07 - 3)),
-         new Rectangle2d(new Translation2d(11.32 - .5, 0), new Translation2d(12.51 + .5, 3)),
-         new Rectangle2d(new Translation2d(11.32 - .5, 8.07), new Translation2d(12.51 + .5, 8.07 - 3)),
-         new Rectangle2d(new Translation2d(99.99, 99.9), new Translation2d(0.0, 0.0)),
+     public static final Rectangle2d[] ALIGN_ZONES = new Rectangle2d[] {
+             new Rectangle2d(new Translation2d(4.03 - .5, 0), new Translation2d(5.22 + .5, 3)),
+             new Rectangle2d(new Translation2d(4.03 - .5, 8.07), new Translation2d(5.22 + .5, 8.07 - 3)),
+             new Rectangle2d(new Translation2d(11.32 - .5, 0), new Translation2d(12.51 + .5, 3)),
+             new Rectangle2d(new Translation2d(11.32 - .5, 8.07), new Translation2d(12.51 + .5, 8.07 - 3)),
+             new Rectangle2d(new Translation2d(99.99, 99.9), new Translation2d(0.0, 0.0)),
      };
  
 -    public static final double[] SLIDE_LATITUDES = new double[] {
 -            // 8.07 - Units.inchesToMeters(30.0),
 -            // Units.inchesToMeters(30.0), should be accurate, i think our field is slightly
 -            // too small
 -            6.550,
 -            0.668,
 +    public static final double[] SLIDE_LATITUDES = new double[]{
 +        8.07 - Units.inchesToMeters(30.0),
 +        Units.inchesToMeters(30.0), // should be accurate, i think our field is slightly too small
 +        // 6.550,
 +        // 0.668,
  
      };