From 9796800b4e5950f25b18efcc13826473b0925a00 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Thu, 6 Feb 2025 19:02:23 -0500
Subject: [PATCH] limelight

---
 .../robot/{command => commands}/AprilTag3G.java | 17 ++++++++++++++---
 .../java/frc/robot/subsystems/Limelight3.java   |  8 ++++++++
 2 files changed, 22 insertions(+), 3 deletions(-)
 rename src/main/java/frc/robot/{command => commands}/AprilTag3G.java (75%)

diff --git a/src/main/java/frc/robot/command/AprilTag3G.java b/src/main/java/frc/robot/commands/AprilTag3G.java
similarity index 75%
rename from src/main/java/frc/robot/command/AprilTag3G.java
rename to src/main/java/frc/robot/commands/AprilTag3G.java
index 8285c75..7755051 100644
--- a/src/main/java/frc/robot/command/AprilTag3G.java
+++ b/src/main/java/frc/robot/commands/AprilTag3G.java
@@ -2,20 +2,31 @@
 // 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.command;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+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 AprilTag3G extends Command {
+  private Limelight3G limelight3g;
   /** Creates a new AprilTag3G. */
-  public AprilTag3G() {
+  public AprilTag3G(Limelight3G limelight3g) {
+    this.limelight3g = limelight3g;
+    addRequirements(limelight3g);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    if(limelight3g.getV() == true){
+      
+    }
+    else{
+      
+    }
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Limelight3.java b/src/main/java/frc/robot/subsystems/Limelight3.java
index 9fbb8a5..6eb4c1f 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3.java
@@ -5,10 +5,15 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.LimelightHelpers;
 
 public class Limelight3 extends SubsystemBase {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
   /** Creates a new Limelight3. */
   public Limelight3() {
     for(int port = 5800; port <=5807; port++){
@@ -20,6 +25,9 @@ public class Limelight3 extends SubsystemBase {
   }
   public boolean getV(){
     return LimelightHelpers.getTV("limelight-balon");
+  }
+  public void Apriltag(){
+    
   }
   @Override
   public void periodic() {