Limelight

src/main/java/frc/robot/commands/AprilTag3.java

@@ -0,0 +1,47 @@
+// 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.Limelight3;
+import frc.robot.subsystems.Limelight3G;
+
+/* 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 AprilTag3 extends Command {
+  private Limelight3 limelight3;
+  /** Creates a new AprilTag3G. */
+  public AprilTag3(Limelight3 limelight3) {
+    this.limelight3 = limelight3;
+    addRequirements(limelight3);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    limelight3.Apriltag();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(limelight3.getV() == true){
+      
+    }
+    else{
+      
+    }
+  }
+
+  // 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;
+  }
+}

src/main/java/frc/robot/commands/AprilTag3G.java

@@ -19,7 +19,11 @@ public class AprilTag3G extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
     if(limelight3g.getV() == true){
       
     }
@@ -28,13 +32,11 @@ public class AprilTag3G extends Command {
     }
   }
 
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    
+  }
 
   // Returns true when the command should end.
   @Override

src/main/java/frc/robot/commands/Forme3.java

@@ -0,0 +1,47 @@
+// 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.Limelight3;
+import frc.robot.subsystems.Limelight3G;
+
+/* 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 Forme3 extends Command {
+  private Limelight3 limelight3;
+  /** Creates a new Forme3. */
+  public Forme3(Limelight3 limelight3) {
+    this.limelight3 = limelight3;
+    addRequirements(limelight3);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    limelight3.Forme();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(limelight3.getV() == true){
+      
+    }
+    else{
+      
+    }
+  }
+
+  // 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;
+  }
+}

src/main/java/frc/robot/subsystems/Limelight3.java

@@ -27,7 +27,10 @@ public class Limelight3 extends SubsystemBase {
     return LimelightHelpers.getTV("limelight-balon");
   }
   public void Apriltag(){
-    
+    pipeline.setNumber(1);
+  }
+  public void Forme(){
+    pipeline.setNumber(0);
   }
   @Override
   public void periodic() {