limelight marche pas

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

@@ -25,10 +25,15 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
 
 import frc.robot.TunerConstants.TunerConstants;
+import frc.robot.commands.AprilTag3;
+import frc.robot.commands.AprilTag3G;
+import frc.robot.commands.Forme3;
 import frc.robot.commands.RainBow;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Grimpeur;
+import frc.robot.subsystems.Limelight3;
+import frc.robot.subsystems.Limelight3G;
 
 
 public class RobotContainer {
@@ -43,14 +48,14 @@ public class RobotContainer {
     private final Telemetry logger = new Telemetry(MaxSpeed);
 
     private final CommandXboxController manette1 = new CommandXboxController(0);
-    private final CommandXboxController manette2 = new CommandXboxController(0);
+    private final CommandXboxController manette2 = new CommandXboxController(1);
 
     public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
     
     private final SendableChooser<Command> autoChooser;
     Bougie bougie = new Bougie();
-    
-    
+    Limelight3G limelight3g = new Limelight3G();
+    Limelight3 limelight3 = new Limelight3();
     public RobotContainer() {
         autoChooser = AutoBuilder.buildAutoChooser("New Auto");
         SmartDashboard.putData("Auto Mode", autoChooser);
@@ -63,16 +68,18 @@ public class RobotContainer {
         drivetrain.setDefaultCommand(
             // Drivetrain will execute this command periodically
             drivetrain.applyRequest(() ->
-                drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY(), 0.5)) // Drive forward with negative Y (forward)
-                    .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX(), 0.5)) // Drive left with negative X (left)
-                    .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.5)) // Drive counterclockwise with negative X (left)
+                drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.15)) // Drive forward with negative Y (forward)
+                    .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.15)) // Drive left with negative X (left)
+                    .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
             )
         );
 
 
         // reset the field-centric heading on left bumper press
         manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
-
+        manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain));
+        manette1.rightTrigger().whileTrue(new Forme3(limelight3));
+        manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g));
         drivetrain.registerTelemetry(logger::telemeterize);
     }
 

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

@@ -8,15 +8,15 @@ 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.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Limelight3;
 
 /* 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 CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
   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
 
@@ -25,9 +25,10 @@ public class AprilTag3 extends Command {
             .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) {
+  public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain) {
     this.limelight3 = limelight3;
-    addRequirements(limelight3);
+    this.drivetrain = drivetrain;
+    addRequirements(limelight3,drivetrain);
     
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -41,19 +42,24 @@ public class AprilTag3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    
+   
     if(limelight3.getV() == true){
-      drive.withRotationalRate(limelight3.getX()/48);
+      drivetrain.applyRequest(() ->
+      drive.withRotationalRate(limelight3.getX()/48));  
+       System.out.println(limelight3.getX()/48);
     }
     else{
-      drive.withRotationalRate(0);
+      drivetrain.applyRequest(() ->
+      drive.withRotationalRate(0)
+      );
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    drive.withRotationalRate(0);
+    drivetrain.applyRequest(() ->
+    drive.withRotationalRate(0));
   }
 
   // Returns true when the command should end.