limelight+swerve=marche

src/main/java/frc/robot/RobotContainer.java

@@ -78,16 +78,8 @@ public class RobotContainer {
 
    
         public Command getAutonomousCommand() {
-            return 
+            return new ParallelCommandGroup(
-             new 
+              autoChooser.getSelected(),
-            ParallelCommandGroup(
+            new RainBow(bougie));
-              autoChooser
-                     .getSelected(),
-            new 
-            RainBow
-            (
-                bougie
-                )
-            );
          }
 }

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

@@ -3,18 +3,32 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.TunerConstants.TunerConstants;
 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;
+
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+    private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
+
+    /* Setting up bindings for necessary control of the swerve drive platform */
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
   /** Creates a new AprilTag3G. */
   public AprilTag3(Limelight3 limelight3) {
     this.limelight3 = limelight3;
     addRequirements(limelight3);
+    
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,17 +41,20 @@ public class AprilTag3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(limelight3.getV() == true){
     
+    if(limelight3.getV() == true){
+      drive.withRotationalRate(limelight3.getX()/48);
     }
     else{
-      
+      drive.withRotationalRate(0);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drive.withRotationalRate(0);
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -3,13 +3,26 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
+import static edu.wpi.first.units.Units.*;
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.TunerConstants.TunerConstants;
+
 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;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+    private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
+
+    /* Setting up bindings for necessary control of the swerve drive platform */
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
+  /** Creates a new AprilTag3G. */
   /** Creates a new AprilTag3G. */
   public AprilTag3G(Limelight3G limelight3g) {
     this.limelight3g = limelight3g;
@@ -25,17 +38,17 @@ public class AprilTag3G extends Command {
   @Override
   public void execute() {
     if(limelight3g.getV() == true){
-      
+      drive.withRotationalRate(limelight3g.getX()/48);
     }
     else{
-      
+      drive.withRotationalRate(0);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    
+    drive.withRotationalRate(0);
   }
 
   // Returns true when the command should end.

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

@@ -3,17 +3,28 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
+import static edu.wpi.first.units.Units.*;
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.TunerConstants.TunerConstants;
 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;
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+    private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
+
+    /* Setting up bindings for necessary control of the swerve drive platform */
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
   /** Creates a new Forme3. */
   public Forme3(Limelight3 limelight3) {
     this.limelight3 = limelight3;
+    
     addRequirements(limelight3);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -28,16 +39,18 @@ public class Forme3 extends Command {
   @Override
   public void execute() {
     if(limelight3.getV() == true){
-      
+      drive.withRotationalRate(limelight3.getX()/48);
     }
     else{
-      
+      drive.withRotationalRate(0);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drive.withRotationalRate(0);
+  }
 
   // Returns true when the command should end.
   @Override