limelight

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

@@ -5,6 +5,7 @@
 package frc.robot;
 import java.util.Map;
 
+
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.networktables.GenericEntry;
@@ -36,13 +37,16 @@ import frc.robot.commands.accumulateurtest;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Lanceur;
-
+import frc.robot.subsystems.limelight;
+import frc.robot.commands.AprilTag;
 public class RobotContainer {
   
 String avancergaucheString = "droite";
 String avancerautoString = "gauche";
   ShuffleboardLayout layoutauto = Shuffleboard.getTab("Dashboard").getLayout("auto", BuiltInLayouts.kList);
   SendableChooser<String> chooser = new SendableChooser<>();
+
+  limelight limelight = new limelight();
   Lanceur lanceur = new Lanceur();
   Accumulateur accumulateur = new Accumulateur();
   Drive drive = new Drive();
@@ -78,6 +82,7 @@ String avancerautoString = "gauche";
     chooser.addOption(avancergaucheString, avancergaucheString);
     layoutauto.add("choix hauteur", chooser);
   accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
+  AprilTag aprilTag = new AprilTag(limelight, lanceur);
   Force1 Force1 = new Force1(lanceur, force1);
   Force2 Force2 = new Force2(lanceur, force2);
   Force3 Force3 = new Force3(lanceur, force3);
@@ -87,7 +92,7 @@ String avancerautoString = "gauche";
   Force7 Force7 = new Force7(lanceur, force7);
 
   //touche
-
+    joystick1.button(2).whileTrue(aprilTag);
     joystick1.button(3).whileTrue(accumulateurtest);
     joystick1.button(1).whileTrue(Force1);
     joystick1.button(7).whileTrue(Force2);

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

@@ -4,13 +4,17 @@
 
 package frc.robot.commands;
 
+import java.util.function.DoubleSupplier;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Lanceur;
 import frc.robot.subsystems.limelight;
 
 public class AprilTag extends CommandBase {
-  private limelight limelight;
   private Lanceur lanceur;
+  private limelight limelight;
+
   /** Creates a new Limelight. */
   public AprilTag(limelight limelight,Lanceur lanceur) {
     this.lanceur = lanceur;
@@ -22,15 +26,19 @@ public class AprilTag extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    limelight.lumiere();
+    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    //drive.drive(0, limelight.getYaw(), 0);
+    if(limelight.tv.getDouble(0) == 1){
       lanceur.lancer(0.5);
     }
     
+  }
+
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {

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

@@ -7,6 +7,8 @@ package frc.robot.subsystems;
 import java.io.File;
 import java.io.IOException;
 
+import com.kauailabs.navx.frc.AHRS;
+
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.wpilibj.Filesystem;
@@ -39,8 +41,7 @@ public class Drive extends SubsystemBase {
   final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle); 
   final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
   public void drive(double x, double y, double zRotation){
-    swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false);
+    swerveDrive.drive(new Translation2d(x*2, y*2), zRotation, true, false);}
-  }
 
 
 

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

@@ -5,22 +5,30 @@
 package frc.robot.subsystems;
 
 
-import org.photonvision.PhotonCamera;
+
 import org.photonvision.common.hardware.VisionLEDMode;
 
-
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class limelight extends SubsystemBase {
-
+  public NetworkTableEntry tv = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv");
-  PhotonCamera limelight = new PhotonCamera("limelight");
+  limelight limelight = new limelight();
-
 /** Creates a new limelight. */
   public limelight() {}
-  public void lumiere(){
+  
+  /*public void lumiere(){
     limelight.setLED(VisionLEDMode.kOff);
     limelight.setPipelineIndex(0);
+  }*/
+  /*public double getYaw() {
+    var result = limelight.getLatestResult();
+    if(result.hasTargets()){
+    return   -result.getBestTarget().getYaw()/45;
     }
+    return 0;}*/
+
 
   @Override
   public void periodic() {