From 1030a95456280ffc62080fb3fb70c06a2dc53275 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 15 Jan 2024 18:56:17 -0500
Subject: [PATCH] limelight

---
 .../java/frc/robot/commands/AprilTag.java     | 45 +++++++++++++++
 .../java/frc/robot/subsystems/limelight.java  | 29 ++++++++++
 vendordeps/photonlib.json                     | 57 +++++++++++++++++++
 3 files changed, 131 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/AprilTag.java
 create mode 100644 src/main/java/frc/robot/subsystems/limelight.java
 create mode 100644 vendordeps/photonlib.json

diff --git a/src/main/java/frc/robot/commands/AprilTag.java b/src/main/java/frc/robot/commands/AprilTag.java
new file mode 100644
index 0000000..72c936a
--- /dev/null
+++ b/src/main/java/frc/robot/commands/AprilTag.java
@@ -0,0 +1,45 @@
+// 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.CommandBase;
+import frc.robot.subsystems.Lanceur;
+import frc.robot.subsystems.limelight;
+
+public class AprilTag extends CommandBase {
+  private limelight limelight;
+  private Lanceur lanceur;
+  /** Creates a new Limelight. */
+  public AprilTag(limelight limelight,Lanceur lanceur) {
+    this.lanceur = lanceur;
+    this.limelight = limelight;
+    addRequirements(limelight,lanceur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // 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() {
+    lanceur.lancer(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.lancer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/limelight.java b/src/main/java/frc/robot/subsystems/limelight.java
new file mode 100644
index 0000000..7284b76
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/limelight.java
@@ -0,0 +1,29 @@
+// 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.subsystems;
+
+
+import org.photonvision.PhotonCamera;
+import org.photonvision.common.hardware.VisionLEDMode;
+
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class limelight extends SubsystemBase {
+
+  PhotonCamera limelight = new PhotonCamera("limelight");
+
+  /** Creates a new limelight. */
+  public limelight() {}
+  public void lumiere(){
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(0);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..7bdce28
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,57 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2024.1.4",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-cpp",
+            "version": "v2024.1.4",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2024.1.4",
+            "libName": "photontargeting",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-java",
+            "version": "v2024.1.4"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-java",
+            "version": "v2024.1.4"
+        }
+    ]
+}
\ No newline at end of file