From adb6d5554f422a576fdfff24d6463e05faee6b34 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 28 Oct 2024 18:45:10 -0400
Subject: [PATCH 01/20] encodeur

---
 src/main/deploy/pathplanner/navgrid.json             |  1 +
 src/main/java/frc/robot/Subsystems/Accumulateur.java | 12 +++++++++---
 2 files changed, 10 insertions(+), 3 deletions(-)
 create mode 100644 src/main/deploy/pathplanner/navgrid.json

diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
new file mode 100644
index 0000000..bab0da9
--- /dev/null
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
+{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index a66dc0c..0b02f8c 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -4,8 +4,11 @@
 
 package frc.robot.Subsystems;
 
-import edu.wpi.first.wpilibj.Encoder;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
   
@@ -13,9 +16,12 @@ public class Accumulateur extends SubsystemBase {
   public Accumulateur() {}
   final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
-  Encoder encoder = new Encoder(1,0);
+  final 
   public void encodeur(){
-    
+    accumulateur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    accumulateur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    accumulateur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
+    accumulateur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
   }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);

From 4944f4662b6928eff5abe669b31c09d04b2de258 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 28 Oct 2024 18:49:53 -0400
Subject: [PATCH 02/20] - encodeurs

---
 src/main/java/frc/robot/Commands/Desaccumuler.java   | 2 +-
 src/main/java/frc/robot/Subsystems/Accumulateur.java | 5 -----
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/Commands/Desaccumuler.java b/src/main/java/frc/robot/Commands/Desaccumuler.java
index 30bedf2..68a79f7 100644
--- a/src/main/java/frc/robot/Commands/Desaccumuler.java
+++ b/src/main/java/frc/robot/Commands/Desaccumuler.java
@@ -19,7 +19,7 @@ public class Desaccumuler extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    accumulateur.resetencodeur();
+    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index 0f450c3..7cac10d 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -4,7 +4,6 @@
 
 package frc.robot.Subsystems;
 
-import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
@@ -13,10 +12,6 @@ public class Accumulateur extends SubsystemBase {
   public Accumulateur() {}
   final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
-  Encoder encoder = new Encoder(1,0);
-  public void resetencodeur(){
-    encoder.reset();
-  }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);
     accumulateur2.set(-vitesse);

From e1111511b7e44ecdee78899192bb2d0acd3d3f32 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 28 Oct 2024 18:52:16 -0400
Subject: [PATCH 03/20] =?UTF-8?q?enlever=20la=20stupidit=C3=A9=20de=20Sam?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/java/frc/robot/Subsystems/Accumulateur.java | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index 4847a22..23e5509 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -17,10 +17,6 @@ public class Accumulateur extends SubsystemBase {
   final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
   public void encodeur(){
-    accumulateur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
-    accumulateur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
-    accumulateur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
-    accumulateur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
   }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);

From 6bec6011ca2125606075311f48c76e23c853d739 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 28 Oct 2024 18:52:38 -0400
Subject: [PATCH 04/20] encodeur

---
 src/main/java/frc/robot/Subsystems/Lanceur.java | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index bd03482..1a6c4a6 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -6,11 +6,13 @@ package frc.robot.Subsystems;
 
 
 
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
-import edu.wpi.first.wpilibj.Encoder;
+
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -21,9 +23,11 @@ public class Lanceur extends SubsystemBase {
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
   final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
-  Encoder encoder = new Encoder(0, 1);
   public void encodeur(double distance){
-    encoder.setDistancePerPulse(distance);
+    lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
+    lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
+    lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
   }
   public void lance(double vitesse){
     lanceur1.set(vitesse);

From b460501b952cb7af4ddc3cd23018119c2ae3b177 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 28 Oct 2024 18:52:56 -0400
Subject: [PATCH 05/20]

---
 src/main/java/frc/robot/Subsystems/Accumulateur.java | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index 23e5509..4de7f10 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -7,8 +7,7 @@ package frc.robot.Subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import com.ctre.phoenix.motorcontrol.FeedbackDevice;
-import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
+
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
   

From 938198d4e232c20906c7a3069ae293c82bef43ae Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 28 Oct 2024 19:04:46 -0400
Subject: [PATCH 06/20] oli me corrige

---
 src/main/java/frc/robot/Subsystems/Lanceur.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 1a6c4a6..20db90e 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -22,7 +22,7 @@ public class Lanceur extends SubsystemBase {
   
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
-  final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
+  final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
   public void encodeur(double distance){
     lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
@@ -34,7 +34,7 @@ public class Lanceur extends SubsystemBase {
     lanceur2.set(-vitesse);
   }
   public void tourelRotation(double vitesse){
-    tourel.set(vitesse);
+    tourelle.set(vitesse);
   }
   public void setPID(double p, double i, int d) {
   }

From ee263139c1a7518415b4eb883f54e220d564ed3b Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 28 Oct 2024 19:07:29 -0400
Subject: [PATCH 07/20] vitesse

---
 src/main/java/frc/robot/Subsystems/Lanceur.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 20db90e..b13621d 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -28,6 +28,7 @@ public class Lanceur extends SubsystemBase {
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
     lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
+    lanceur1.configFactoryDefault();
   }
   public void lance(double vitesse){
     lanceur1.set(vitesse);

From 7e65352246515fa4c8d45b9dfd4c21e6103be93c Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Mon, 28 Oct 2024 19:17:34 -0400
Subject: [PATCH 08/20] =?UTF-8?q?limelight=20d=C3=A9but?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../java/frc/robot/Subsystems/Limelight.java  | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 src/main/java/frc/robot/Subsystems/Limelight.java

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..afeb914
--- /dev/null
+++ b/src/main/java/frc/robot/Subsystems/Limelight.java
@@ -0,0 +1,28 @@
+// 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+public class Limelight extends SubsystemBase {
+NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
+NetworkTableEntry tx = table.getEntry("tx");
+NetworkTableEntry ty = table.getEntry("ty");
+NetworkTableEntry ta = table.getEntry("ta");
+
+//read values periodically
+double x = tx.getDouble(0.0);
+double y = ty.getDouble(0.0);
+double area = ta.getDouble(0.0);
+  /** Creates a new Limelight. */
+  public Limelight() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From d6508d513b83d865a06d32314db97babea089650 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 28 Oct 2024 19:31:31 -0400
Subject: [PATCH 09/20]

---
 src/main/java/frc/robot/Subsystems/Lanceur.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index b13621d..cd9a27e 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -28,7 +28,7 @@ public class Lanceur extends SubsystemBase {
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
     lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
-    lanceur1.configFactoryDefault();
+    
   }
   public void lance(double vitesse){
     lanceur1.set(vitesse);

From 48a4f2e0f417a30d8e3d367c542e2cea47fdf31b Mon Sep 17 00:00:00 2001
From: Antoine <2443335@carrefour.cegepvicto.ca>
Date: Wed, 30 Oct 2024 18:28:42 -0400
Subject: [PATCH 10/20] limelight lib

---
 src/main/java/frc/robot/LimelightHelpers.java | 1265 +++++++++++++++++
 1 file changed, 1265 insertions(+)
 create mode 100644 src/main/java/frc/robot/LimelightHelpers.java

diff --git a/src/main/java/frc/robot/LimelightHelpers.java b/src/main/java/frc/robot/LimelightHelpers.java
new file mode 100644
index 0000000..efdfeb5
--- /dev/null
+++ b/src/main/java/frc/robot/LimelightHelpers.java
@@ -0,0 +1,1265 @@
+//LimelightHelpers v1.9 (REQUIRES 2024.9.1)
+
+package frc.robot;
+
+import edu.wpi.first.networktables.DoubleArrayEntry;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.TimestampedDoubleArray;
+import frc.robot.LimelightHelpers.LimelightResults;
+import frc.robot.LimelightHelpers.PoseEstimate;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation2d;
+
+import java.io.IOException;
+import java.net.HttpURLConnection;
+import java.net.MalformedURLException;
+import java.net.URL;
+import java.util.Map;
+import java.util.concurrent.CompletableFuture;
+
+import com.fasterxml.jackson.annotation.JsonFormat;
+import com.fasterxml.jackson.annotation.JsonFormat.Shape;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.DeserializationFeature;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import java.util.concurrent.ConcurrentHashMap;
+
+public class LimelightHelpers {
+
+    private static final Map<String, DoubleArrayEntry> doubleArrayEntries = new ConcurrentHashMap<>();
+
+
+    public static class LimelightTarget_Retro {
+
+        @JsonProperty("t6c_ts")
+        private double[] cameraPose_TargetSpace;
+
+        @JsonProperty("t6r_fs")
+        private double[] robotPose_FieldSpace;
+
+        @JsonProperty("t6r_ts")
+        private  double[] robotPose_TargetSpace;
+
+        @JsonProperty("t6t_cs")
+        private double[] targetPose_CameraSpace;
+
+        @JsonProperty("t6t_rs")
+        private double[] targetPose_RobotSpace;
+
+        public Pose3d getCameraPose_TargetSpace()
+        {
+            return toPose3D(cameraPose_TargetSpace);
+        }
+        public Pose3d getRobotPose_FieldSpace()
+        {
+            return toPose3D(robotPose_FieldSpace);
+        }
+        public Pose3d getRobotPose_TargetSpace()
+        {
+            return toPose3D(robotPose_TargetSpace);
+        }
+        public Pose3d getTargetPose_CameraSpace()
+        {
+            return toPose3D(targetPose_CameraSpace);
+        }
+        public Pose3d getTargetPose_RobotSpace()
+        {
+            return toPose3D(targetPose_RobotSpace);
+        }
+
+        public Pose2d getCameraPose_TargetSpace2D()
+        {
+            return toPose2D(cameraPose_TargetSpace);
+        }
+        public Pose2d getRobotPose_FieldSpace2D()
+        {
+            return toPose2D(robotPose_FieldSpace);
+        }
+        public Pose2d getRobotPose_TargetSpace2D()
+        {
+            return toPose2D(robotPose_TargetSpace);
+        }
+        public Pose2d getTargetPose_CameraSpace2D()
+        {
+            return toPose2D(targetPose_CameraSpace);
+        }
+        public Pose2d getTargetPose_RobotSpace2D()
+        {
+            return toPose2D(targetPose_RobotSpace);
+        }
+
+        @JsonProperty("ta")
+        public double ta;
+
+        @JsonProperty("tx")
+        public double tx;
+
+        @JsonProperty("txp")
+        public double tx_pixels;
+
+        @JsonProperty("ty")
+        public double ty;
+
+        @JsonProperty("typ")
+        public double ty_pixels;
+
+        @JsonProperty("ts")
+        public double ts;
+
+        public LimelightTarget_Retro() {
+            cameraPose_TargetSpace = new double[6];
+            robotPose_FieldSpace = new double[6];
+            robotPose_TargetSpace = new double[6];
+            targetPose_CameraSpace = new double[6];
+            targetPose_RobotSpace = new double[6];
+        }
+
+    }
+
+    public static class LimelightTarget_Fiducial {
+
+        @JsonProperty("fID")
+        public double fiducialID;
+
+        @JsonProperty("fam")
+        public String fiducialFamily;
+
+        @JsonProperty("t6c_ts")
+        private double[] cameraPose_TargetSpace;
+
+        @JsonProperty("t6r_fs")
+        private double[] robotPose_FieldSpace;
+
+        @JsonProperty("t6r_ts")
+        private double[] robotPose_TargetSpace;
+
+        @JsonProperty("t6t_cs")
+        private double[] targetPose_CameraSpace;
+
+        @JsonProperty("t6t_rs")
+        private double[] targetPose_RobotSpace;
+
+        public Pose3d getCameraPose_TargetSpace()
+        {
+            return toPose3D(cameraPose_TargetSpace);
+        }
+        public Pose3d getRobotPose_FieldSpace()
+        {
+            return toPose3D(robotPose_FieldSpace);
+        }
+        public Pose3d getRobotPose_TargetSpace()
+        {
+            return toPose3D(robotPose_TargetSpace);
+        }
+        public Pose3d getTargetPose_CameraSpace()
+        {
+            return toPose3D(targetPose_CameraSpace);
+        }
+        public Pose3d getTargetPose_RobotSpace()
+        {
+            return toPose3D(targetPose_RobotSpace);
+        }
+
+        public Pose2d getCameraPose_TargetSpace2D()
+        {
+            return toPose2D(cameraPose_TargetSpace);
+        }
+        public Pose2d getRobotPose_FieldSpace2D()
+        {
+            return toPose2D(robotPose_FieldSpace);
+        }
+        public Pose2d getRobotPose_TargetSpace2D()
+        {
+            return toPose2D(robotPose_TargetSpace);
+        }
+        public Pose2d getTargetPose_CameraSpace2D()
+        {
+            return toPose2D(targetPose_CameraSpace);
+        }
+        public Pose2d getTargetPose_RobotSpace2D()
+        {
+            return toPose2D(targetPose_RobotSpace);
+        }
+        
+        @JsonProperty("ta")
+        public double ta;
+
+        @JsonProperty("tx")
+        public double tx;
+
+        @JsonProperty("txp")
+        public double tx_pixels;
+
+        @JsonProperty("ty")
+        public double ty;
+
+        @JsonProperty("typ")
+        public double ty_pixels;
+
+        @JsonProperty("ts")
+        public double ts;
+        
+        public LimelightTarget_Fiducial() {
+            cameraPose_TargetSpace = new double[6];
+            robotPose_FieldSpace = new double[6];
+            robotPose_TargetSpace = new double[6];
+            targetPose_CameraSpace = new double[6];
+            targetPose_RobotSpace = new double[6];
+        }
+    }
+
+    public static class LimelightTarget_Barcode {
+
+    }
+
+    public static class LimelightTarget_Classifier {
+
+        @JsonProperty("class")
+        public String className;
+
+        @JsonProperty("classID")
+        public double classID;
+
+        @JsonProperty("conf")
+        public double confidence;
+
+        @JsonProperty("zone")
+        public double zone;
+
+        @JsonProperty("tx")
+        public double tx;
+
+        @JsonProperty("txp")
+        public double tx_pixels;
+
+        @JsonProperty("ty")
+        public double ty;
+
+        @JsonProperty("typ")
+        public double ty_pixels;
+
+        public  LimelightTarget_Classifier() {
+        }
+    }
+
+    public static class LimelightTarget_Detector {
+
+        @JsonProperty("class")
+        public String className;
+
+        @JsonProperty("classID")
+        public double classID;
+
+        @JsonProperty("conf")
+        public double confidence;
+
+        @JsonProperty("ta")
+        public double ta;
+
+        @JsonProperty("tx")
+        public double tx;
+
+        @JsonProperty("txp")
+        public double tx_pixels;
+
+        @JsonProperty("ty")
+        public double ty;
+
+        @JsonProperty("typ")
+        public double ty_pixels;
+
+        public LimelightTarget_Detector() {
+        }
+    }
+
+    public static class LimelightResults {
+        
+        public String error;
+        
+        @JsonProperty("pID")
+        public double pipelineID;
+
+        @JsonProperty("tl")
+        public double latency_pipeline;
+
+        @JsonProperty("cl")
+        public double latency_capture;
+
+        public double latency_jsonParse;
+
+        @JsonProperty("ts")
+        public double timestamp_LIMELIGHT_publish;
+
+        @JsonProperty("ts_rio")
+        public double timestamp_RIOFPGA_capture;
+
+        @JsonProperty("v")
+        @JsonFormat(shape = Shape.NUMBER)
+        public boolean valid;
+
+        @JsonProperty("botpose")
+        public double[] botpose;
+
+        @JsonProperty("botpose_wpired")
+        public double[] botpose_wpired;
+
+        @JsonProperty("botpose_wpiblue")
+        public double[] botpose_wpiblue;
+
+        @JsonProperty("botpose_tagcount")
+        public double botpose_tagcount;
+       
+        @JsonProperty("botpose_span")
+        public double botpose_span;
+       
+        @JsonProperty("botpose_avgdist")
+        public double botpose_avgdist;
+       
+        @JsonProperty("botpose_avgarea")
+        public double botpose_avgarea;
+
+        @JsonProperty("t6c_rs")
+        public double[] camerapose_robotspace;
+
+        public Pose3d getBotPose3d() {
+            return toPose3D(botpose);
+        }
+    
+        public Pose3d getBotPose3d_wpiRed() {
+            return toPose3D(botpose_wpired);
+        }
+    
+        public Pose3d getBotPose3d_wpiBlue() {
+            return toPose3D(botpose_wpiblue);
+        }
+
+        public Pose2d getBotPose2d() {
+            return toPose2D(botpose);
+        }
+    
+        public Pose2d getBotPose2d_wpiRed() {
+            return toPose2D(botpose_wpired);
+        }
+    
+        public Pose2d getBotPose2d_wpiBlue() {
+            return toPose2D(botpose_wpiblue);
+        }
+
+        @JsonProperty("Retro")
+        public LimelightTarget_Retro[] targets_Retro;
+
+        @JsonProperty("Fiducial")
+        public LimelightTarget_Fiducial[] targets_Fiducials;
+
+        @JsonProperty("Classifier")
+        public LimelightTarget_Classifier[] targets_Classifier;
+
+        @JsonProperty("Detector")
+        public LimelightTarget_Detector[] targets_Detector;
+
+        @JsonProperty("Barcode")
+        public LimelightTarget_Barcode[] targets_Barcode;
+
+        public LimelightResults() {
+            botpose = new double[6];
+            botpose_wpired = new double[6];
+            botpose_wpiblue = new double[6];
+            camerapose_robotspace = new double[6];
+            targets_Retro = new LimelightTarget_Retro[0];
+            targets_Fiducials = new LimelightTarget_Fiducial[0];
+            targets_Classifier = new LimelightTarget_Classifier[0];
+            targets_Detector = new LimelightTarget_Detector[0];
+            targets_Barcode = new LimelightTarget_Barcode[0];
+
+        }
+
+
+    }
+
+    public static class RawFiducial {
+        public int id = 0;
+        public double txnc = 0;
+        public double tync = 0;
+        public double ta = 0;
+        public double distToCamera = 0;
+        public double distToRobot = 0;
+        public double ambiguity = 0;
+
+
+        public RawFiducial(int id, double txnc, double tync, double ta, double distToCamera, double distToRobot, double ambiguity) {
+            this.id = id;
+            this.txnc = txnc;
+            this.tync = tync;
+            this.ta = ta;
+            this.distToCamera = distToCamera;
+            this.distToRobot = distToRobot;
+            this.ambiguity = ambiguity;
+        }
+    }
+
+    public static class RawDetection {
+        public int classId = 0;
+        public double txnc = 0;
+        public double tync = 0;
+        public double ta = 0;
+        public double corner0_X = 0;
+        public double corner0_Y = 0;
+        public double corner1_X = 0;
+        public double corner1_Y = 0;
+        public double corner2_X = 0;
+        public double corner2_Y = 0;
+        public double corner3_X = 0;
+        public double corner3_Y = 0;
+
+
+        public RawDetection(int classId, double txnc, double tync, double ta, 
+            double corner0_X, double corner0_Y, 
+            double corner1_X, double corner1_Y, 
+            double corner2_X, double corner2_Y, 
+            double corner3_X, double corner3_Y ) {
+            this.classId = classId;
+            this.txnc = txnc;
+            this.tync = tync;
+            this.ta = ta;
+            this.corner0_X = corner0_X;
+            this.corner0_Y = corner0_Y;
+            this.corner1_X = corner1_X;
+            this.corner1_Y = corner1_Y;
+            this.corner2_X = corner2_X;
+            this.corner2_Y = corner2_Y;
+            this.corner3_X = corner3_X;
+            this.corner3_Y = corner3_Y;
+        }
+    }
+
+    public static class PoseEstimate {
+        public Pose2d pose;
+        public double timestampSeconds;
+        public double latency;
+        public int tagCount;
+        public double tagSpan;
+        public double avgTagDist;
+        public double avgTagArea;
+        public RawFiducial[] rawFiducials; 
+
+        /**
+         * Makes a PoseEstimate object with default values
+         */
+        public PoseEstimate() {
+            this.pose = new Pose2d();
+            this.timestampSeconds = 0;
+            this.latency = 0;
+            this.tagCount = 0;
+            this.tagSpan = 0;
+            this.avgTagDist = 0;
+            this.avgTagArea = 0;
+            this.rawFiducials = new RawFiducial[]{};
+        }
+
+        public PoseEstimate(Pose2d pose, double timestampSeconds, double latency, 
+            int tagCount, double tagSpan, double avgTagDist, 
+            double avgTagArea, RawFiducial[] rawFiducials) {
+
+            this.pose = pose;
+            this.timestampSeconds = timestampSeconds;
+            this.latency = latency;
+            this.tagCount = tagCount;
+            this.tagSpan = tagSpan;
+            this.avgTagDist = avgTagDist;
+            this.avgTagArea = avgTagArea;
+            this.rawFiducials = rawFiducials;
+        }
+
+    }
+
+    private static ObjectMapper mapper;
+
+    /**
+     * Print JSON Parse time to the console in milliseconds
+     */
+    static boolean profileJSON = false;
+
+    static final String sanitizeName(String name) {
+        if (name == "" || name == null) {
+            return "limelight";
+        }
+        return name;
+    }
+
+    public static Pose3d toPose3D(double[] inData){
+        if(inData.length < 6)
+        {
+            //System.err.println("Bad LL 3D Pose Data!");
+            return new Pose3d();
+        }
+        return new Pose3d(
+            new Translation3d(inData[0], inData[1], inData[2]),
+            new Rotation3d(Units.degreesToRadians(inData[3]), Units.degreesToRadians(inData[4]),
+                    Units.degreesToRadians(inData[5])));
+    }
+
+    public static Pose2d toPose2D(double[] inData){
+        if(inData.length < 6)
+        {
+            //System.err.println("Bad LL 2D Pose Data!");
+            return new Pose2d();
+        }
+        Translation2d tran2d = new Translation2d(inData[0], inData[1]);
+        Rotation2d r2d = new Rotation2d(Units.degreesToRadians(inData[5]));
+        return new Pose2d(tran2d, r2d);
+    }
+
+    /**
+     * Converts a Pose3d object to an array of doubles.
+     * 
+     * @param pose The Pose3d object to convert.
+     * @return The array of doubles representing the pose.
+     **/
+    public static double[] pose3dToArray(Pose3d pose) {
+        double[] result = new double[6];
+        result[0] = pose.getTranslation().getX();
+        result[1] = pose.getTranslation().getY();
+        result[2] = pose.getTranslation().getZ();
+        result[3] = Units.radiansToDegrees(pose.getRotation().getX());
+        result[4] = Units.radiansToDegrees(pose.getRotation().getY());
+        result[5] = Units.radiansToDegrees(pose.getRotation().getZ());
+        return result;
+    }
+
+    /**
+     * Converts a Pose2d object to an array of doubles.
+     * 
+     * @param pose The Pose2d object to convert.
+     * @return The array of doubles representing the pose.
+     **/
+    public static double[] pose2dToArray(Pose2d pose) {
+        double[] result = new double[6];
+        result[0] = pose.getTranslation().getX();
+        result[1] = pose.getTranslation().getY();
+        result[2] = 0;
+        result[3] = Units.radiansToDegrees(0);
+        result[4] = Units.radiansToDegrees(0);
+        result[5] = Units.radiansToDegrees(pose.getRotation().getRadians());
+        return result;
+    }
+
+    private static double extractArrayEntry(double[] inData, int position){
+        if(inData.length < position+1)
+        {
+            return 0;
+        }
+        return inData[position];
+    }
+
+    private static PoseEstimate getBotPoseEstimate(String limelightName, String entryName) {
+        DoubleArrayEntry poseEntry = LimelightHelpers.getLimelightDoubleArrayEntry(limelightName, entryName);
+        
+        TimestampedDoubleArray tsValue = poseEntry.getAtomic();
+        double[] poseArray = tsValue.value;
+        long timestamp = tsValue.timestamp;
+        
+        if (poseArray.length == 0) {
+            // Handle the case where no data is available
+            return null; // or some default PoseEstimate
+        }
+    
+        var pose = toPose2D(poseArray);
+        double latency = extractArrayEntry(poseArray, 6);
+        int tagCount = (int)extractArrayEntry(poseArray, 7);
+        double tagSpan = extractArrayEntry(poseArray, 8);
+        double tagDist = extractArrayEntry(poseArray, 9);
+        double tagArea = extractArrayEntry(poseArray, 10);
+        
+        // Convert server timestamp from microseconds to seconds and adjust for latency
+        double adjustedTimestamp = (timestamp / 1000000.0) - (latency / 1000.0);
+    
+        RawFiducial[] rawFiducials = new RawFiducial[tagCount];
+        int valsPerFiducial = 7;
+        int expectedTotalVals = 11 + valsPerFiducial * tagCount;
+    
+        if (poseArray.length != expectedTotalVals) {
+            // Don't populate fiducials
+        } else {
+            for(int i = 0; i < tagCount; i++) {
+                int baseIndex = 11 + (i * valsPerFiducial);
+                int id = (int)poseArray[baseIndex];
+                double txnc = poseArray[baseIndex + 1];
+                double tync = poseArray[baseIndex + 2];
+                double ta = poseArray[baseIndex + 3];
+                double distToCamera = poseArray[baseIndex + 4];
+                double distToRobot = poseArray[baseIndex + 5];
+                double ambiguity = poseArray[baseIndex + 6];
+                rawFiducials[i] = new RawFiducial(id, txnc, tync, ta, distToCamera, distToRobot, ambiguity);
+            }
+        }
+    
+        return new PoseEstimate(pose, adjustedTimestamp, latency, tagCount, tagSpan, tagDist, tagArea, rawFiducials);
+    }
+
+    private static RawFiducial[] getRawFiducials(String limelightName) {
+        var entry = LimelightHelpers.getLimelightNTTableEntry(limelightName, "rawfiducials");
+        var rawFiducialArray = entry.getDoubleArray(new double[0]);
+        int valsPerEntry = 7;
+        if (rawFiducialArray.length % valsPerEntry != 0) {
+            return new RawFiducial[0];
+        }
+    
+        int numFiducials = rawFiducialArray.length / valsPerEntry;
+        RawFiducial[] rawFiducials = new RawFiducial[numFiducials];
+    
+        for (int i = 0; i < numFiducials; i++) {
+            int baseIndex = i * valsPerEntry;
+            int id = (int) extractArrayEntry(rawFiducialArray, baseIndex);
+            double txnc = extractArrayEntry(rawFiducialArray, baseIndex + 1);
+            double tync = extractArrayEntry(rawFiducialArray, baseIndex + 2);
+            double ta = extractArrayEntry(rawFiducialArray, baseIndex + 3);
+            double distToCamera = extractArrayEntry(rawFiducialArray, baseIndex + 4);
+            double distToRobot = extractArrayEntry(rawFiducialArray, baseIndex + 5);
+            double ambiguity = extractArrayEntry(rawFiducialArray, baseIndex + 6);
+            
+            rawFiducials[i] = new RawFiducial(id, txnc, tync, ta, distToCamera, distToRobot, ambiguity);
+        }
+    
+        return rawFiducials;
+    }
+
+    public static RawDetection[] getRawDetections(String limelightName) {
+        var entry = LimelightHelpers.getLimelightNTTableEntry(limelightName, "rawdetections");
+        var rawDetectionArray = entry.getDoubleArray(new double[0]);
+        int valsPerEntry = 11;
+        if (rawDetectionArray.length % valsPerEntry != 0) {
+            return new RawDetection[0];
+        }
+    
+        int numDetections = rawDetectionArray.length / valsPerEntry;
+        RawDetection[] rawDetections = new RawDetection[numDetections];
+    
+        for (int i = 0; i < numDetections; i++) {
+            int baseIndex = i * valsPerEntry; // Starting index for this detection's data
+            int classId = (int) extractArrayEntry(rawDetectionArray, baseIndex);
+            double txnc = extractArrayEntry(rawDetectionArray, baseIndex + 1);
+            double tync = extractArrayEntry(rawDetectionArray, baseIndex + 2);
+            double ta = extractArrayEntry(rawDetectionArray, baseIndex + 3);
+            double corner0_X = extractArrayEntry(rawDetectionArray, baseIndex + 4);
+            double corner0_Y = extractArrayEntry(rawDetectionArray, baseIndex + 5);
+            double corner1_X = extractArrayEntry(rawDetectionArray, baseIndex + 6);
+            double corner1_Y = extractArrayEntry(rawDetectionArray, baseIndex + 7);
+            double corner2_X = extractArrayEntry(rawDetectionArray, baseIndex + 8);
+            double corner2_Y = extractArrayEntry(rawDetectionArray, baseIndex + 9);
+            double corner3_X = extractArrayEntry(rawDetectionArray, baseIndex + 10);
+            double corner3_Y = extractArrayEntry(rawDetectionArray, baseIndex + 11);
+            
+            rawDetections[i] = new RawDetection(classId, txnc, tync, ta, corner0_X, corner0_Y, corner1_X, corner1_Y, corner2_X, corner2_Y, corner3_X, corner3_Y);
+        }
+    
+        return rawDetections;
+    }
+
+    public static void printPoseEstimate(PoseEstimate pose) {
+        if (pose == null) {
+            System.out.println("No PoseEstimate available.");
+            return;
+        }
+    
+        System.out.printf("Pose Estimate Information:%n");
+        System.out.printf("Timestamp (Seconds): %.3f%n", pose.timestampSeconds);
+        System.out.printf("Latency: %.3f ms%n", pose.latency);
+        System.out.printf("Tag Count: %d%n", pose.tagCount);
+        System.out.printf("Tag Span: %.2f meters%n", pose.tagSpan);
+        System.out.printf("Average Tag Distance: %.2f meters%n", pose.avgTagDist);
+        System.out.printf("Average Tag Area: %.2f%% of image%n", pose.avgTagArea);
+        System.out.println();
+    
+        if (pose.rawFiducials == null || pose.rawFiducials.length == 0) {
+            System.out.println("No RawFiducials data available.");
+            return;
+        }
+    
+        System.out.println("Raw Fiducials Details:");
+        for (int i = 0; i < pose.rawFiducials.length; i++) {
+            RawFiducial fiducial = pose.rawFiducials[i];
+            System.out.printf(" Fiducial #%d:%n", i + 1);
+            System.out.printf("  ID: %d%n", fiducial.id);
+            System.out.printf("  TXNC: %.2f%n", fiducial.txnc);
+            System.out.printf("  TYNC: %.2f%n", fiducial.tync);
+            System.out.printf("  TA: %.2f%n", fiducial.ta);
+            System.out.printf("  Distance to Camera: %.2f meters%n", fiducial.distToCamera);
+            System.out.printf("  Distance to Robot: %.2f meters%n", fiducial.distToRobot);
+            System.out.printf("  Ambiguity: %.2f%n", fiducial.ambiguity);
+            System.out.println();
+        }
+    }
+
+    public static NetworkTable getLimelightNTTable(String tableName) {
+        return NetworkTableInstance.getDefault().getTable(sanitizeName(tableName));
+    }
+
+    public static void Flush() {
+        NetworkTableInstance.getDefault().flush();
+    }
+
+    public static NetworkTableEntry getLimelightNTTableEntry(String tableName, String entryName) {
+        return getLimelightNTTable(tableName).getEntry(entryName);
+    }
+
+    public static DoubleArrayEntry getLimelightDoubleArrayEntry(String tableName, String entryName) {
+        String key = tableName + "/" + entryName;
+        return doubleArrayEntries.computeIfAbsent(key, k -> {
+            NetworkTable table = getLimelightNTTable(tableName);
+            return table.getDoubleArrayTopic(entryName).getEntry(new double[0]);
+        });
+    }
+    
+    public static double getLimelightNTDouble(String tableName, String entryName) {
+        return getLimelightNTTableEntry(tableName, entryName).getDouble(0.0);
+    }
+
+    public static void setLimelightNTDouble(String tableName, String entryName, double val) {
+        getLimelightNTTableEntry(tableName, entryName).setDouble(val);
+    }
+
+    public static void setLimelightNTDoubleArray(String tableName, String entryName, double[] val) {
+        getLimelightNTTableEntry(tableName, entryName).setDoubleArray(val);
+    }
+
+    public static double[] getLimelightNTDoubleArray(String tableName, String entryName) {
+        return getLimelightNTTableEntry(tableName, entryName).getDoubleArray(new double[0]);
+    }
+
+
+
+    public static String getLimelightNTString(String tableName, String entryName) {
+        return getLimelightNTTableEntry(tableName, entryName).getString("");
+    }
+
+    public static String[] getLimelightNTStringArray(String tableName, String entryName) {
+        return getLimelightNTTableEntry(tableName, entryName).getStringArray(new String[0]);
+    }
+
+
+    public static URL getLimelightURLString(String tableName, String request) {
+        String urlString = "http://" + sanitizeName(tableName) + ".local:5807/" + request;
+        URL url;
+        try {
+            url = new URL(urlString);
+            return url;
+        } catch (MalformedURLException e) {
+            System.err.println("bad LL URL");
+        }
+        return null;
+    }
+    /////
+    /////
+
+    public static double getTX(String limelightName) {
+        return getLimelightNTDouble(limelightName, "tx");
+    }
+
+    public static double getTY(String limelightName) {
+        return getLimelightNTDouble(limelightName, "ty");
+    }
+
+    public static double getTA(String limelightName) {
+        return getLimelightNTDouble(limelightName, "ta");
+    }
+
+    public static double[] getT2DArray(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "t2d");
+    }
+    
+
+    public static int getTargetCount(String limelightName) {
+      double[] t2d = getT2DArray(limelightName);
+      if(t2d.length == 17)
+      {
+        return (int)t2d[1];
+      }
+      return 0;
+    }
+
+    public static int getClassifierClassIndex (String limelightName) {
+    double[] t2d = getT2DArray(limelightName);
+      if(t2d.length == 17)
+      {
+        return (int)t2d[10];
+      }
+      return 0;
+    }
+    public static int getDetectorClassIndex (String limelightName) {
+     double[] t2d = getT2DArray(limelightName);
+      if(t2d.length == 17)
+      {
+        return (int)t2d[11];
+      }
+      return 0;
+    }
+    
+    public static String getClassifierClass (String limelightName) {
+        return getLimelightNTString(limelightName, "tcclass");
+    }
+    public static String getDetectorClass (String limelightName) {
+        return getLimelightNTString(limelightName, "tdclass");
+    }
+
+
+    public static double getLatency_Pipeline(String limelightName) {
+        return getLimelightNTDouble(limelightName, "tl");
+    }
+
+    public static double getLatency_Capture(String limelightName) {
+        return getLimelightNTDouble(limelightName, "cl");
+    }
+
+    public static double getCurrentPipelineIndex(String limelightName) {
+        return getLimelightNTDouble(limelightName, "getpipe");
+    }
+
+    public static String getCurrentPipelineType(String limelightName) {
+        return getLimelightNTString(limelightName, "getpipetype");
+    }
+
+    public static String getJSONDump(String limelightName) {
+        return getLimelightNTString(limelightName, "json");
+    }
+
+    /**
+     * Switch to getBotPose
+     * 
+     * @param limelightName
+     * @return
+     */
+    @Deprecated
+    public static double[] getBotpose(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "botpose");
+    }
+
+    /**
+     * Switch to getBotPose_wpiRed
+     * 
+     * @param limelightName
+     * @return
+     */
+    @Deprecated
+    public static double[] getBotpose_wpiRed(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "botpose_wpired");
+    }
+
+    /**
+     * Switch to getBotPose_wpiBlue
+     * 
+     * @param limelightName
+     * @return
+     */
+    @Deprecated
+    public static double[] getBotpose_wpiBlue(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "botpose_wpiblue");
+    }
+
+    public static double[] getBotPose(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "botpose");
+    }
+
+    public static double[] getBotPose_wpiRed(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "botpose_wpired");
+    }
+
+    public static double[] getBotPose_wpiBlue(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "botpose_wpiblue");
+    }
+
+    public static double[] getBotPose_TargetSpace(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "botpose_targetspace");
+    }
+
+    public static double[] getCameraPose_TargetSpace(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "camerapose_targetspace");
+    }
+
+    public static double[] getTargetPose_CameraSpace(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "targetpose_cameraspace");
+    }
+
+    public static double[] getTargetPose_RobotSpace(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "targetpose_robotspace");
+    }
+
+    public static double[] getTargetColor(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "tc");
+    }
+
+    public static double getFiducialID(String limelightName) {
+        return getLimelightNTDouble(limelightName, "tid");
+    }
+
+    public static String getNeuralClassID(String limelightName) {
+        return getLimelightNTString(limelightName, "tclass");
+    }
+
+    public static String[] getRawBarcodeData(String limelightName) {
+        return getLimelightNTStringArray(limelightName, "rawbarcodes");
+    }
+
+    /////
+    /////
+
+    public static Pose3d getBotPose3d(String limelightName) {
+        double[] poseArray = getLimelightNTDoubleArray(limelightName, "botpose");
+        return toPose3D(poseArray);
+    }
+
+    public static Pose3d getBotPose3d_wpiRed(String limelightName) {
+        double[] poseArray = getLimelightNTDoubleArray(limelightName, "botpose_wpired");
+        return toPose3D(poseArray);
+    }
+
+    public static Pose3d getBotPose3d_wpiBlue(String limelightName) {
+        double[] poseArray = getLimelightNTDoubleArray(limelightName, "botpose_wpiblue");
+        return toPose3D(poseArray);
+    }
+
+    public static Pose3d getBotPose3d_TargetSpace(String limelightName) {
+        double[] poseArray = getLimelightNTDoubleArray(limelightName, "botpose_targetspace");
+        return toPose3D(poseArray);
+    }
+
+    public static Pose3d getCameraPose3d_TargetSpace(String limelightName) {
+        double[] poseArray = getLimelightNTDoubleArray(limelightName, "camerapose_targetspace");
+        return toPose3D(poseArray);
+    }
+
+    public static Pose3d getTargetPose3d_CameraSpace(String limelightName) {
+        double[] poseArray = getLimelightNTDoubleArray(limelightName, "targetpose_cameraspace");
+        return toPose3D(poseArray);
+    }
+
+    public static Pose3d getTargetPose3d_RobotSpace(String limelightName) {
+        double[] poseArray = getLimelightNTDoubleArray(limelightName, "targetpose_robotspace");
+        return toPose3D(poseArray);
+    }
+
+    public static Pose3d getCameraPose3d_RobotSpace(String limelightName) {
+        double[] poseArray = getLimelightNTDoubleArray(limelightName, "camerapose_robotspace");
+        return toPose3D(poseArray);
+    }
+
+    /**
+     * Gets the Pose2d for easy use with Odometry vision pose estimator
+     * (addVisionMeasurement)
+     * 
+     * @param limelightName
+     * @return
+     */
+    public static Pose2d getBotPose2d_wpiBlue(String limelightName) {
+
+        double[] result = getBotPose_wpiBlue(limelightName);
+        return toPose2D(result);
+    }
+
+    /**
+     * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the BLUE
+     * alliance
+     * 
+     * @param limelightName
+     * @return
+     */
+    public static PoseEstimate getBotPoseEstimate_wpiBlue(String limelightName) {
+        return getBotPoseEstimate(limelightName, "botpose_wpiblue");
+    }
+
+    /**
+     * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the BLUE
+     * alliance
+     * 
+     * @param limelightName
+     * @return
+     */
+    public static PoseEstimate getBotPoseEstimate_wpiBlue_MegaTag2(String limelightName) {
+        return getBotPoseEstimate(limelightName, "botpose_orb_wpiblue");
+    }
+
+    /**
+     * Gets the Pose2d for easy use with Odometry vision pose estimator
+     * (addVisionMeasurement)
+     * 
+     * @param limelightName
+     * @return
+     */
+    public static Pose2d getBotPose2d_wpiRed(String limelightName) {
+
+        double[] result = getBotPose_wpiRed(limelightName);
+        return toPose2D(result);
+
+    }
+
+    /**
+     * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED
+     * alliance
+     * @param limelightName
+     * @return
+     */
+    public static PoseEstimate getBotPoseEstimate_wpiRed(String limelightName) {
+        return getBotPoseEstimate(limelightName, "botpose_wpired");
+    }
+
+    /**
+     * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED
+     * alliance
+     * @param limelightName
+     * @return
+     */
+    public static PoseEstimate getBotPoseEstimate_wpiRed_MegaTag2(String limelightName) {
+        return getBotPoseEstimate(limelightName, "botpose_orb_wpired");
+    }
+
+    /**
+     * Gets the Pose2d for easy use with Odometry vision pose estimator
+     * (addVisionMeasurement)
+     * 
+     * @param limelightName
+     * @return
+     */
+    public static Pose2d getBotPose2d(String limelightName) {
+
+        double[] result = getBotPose(limelightName);
+        return toPose2D(result);
+
+    }
+
+    public static boolean getTV(String limelightName) {
+        return 1.0 == getLimelightNTDouble(limelightName, "tv");
+    }
+
+    /////
+    /////
+
+    public static void setPipelineIndex(String limelightName, int pipelineIndex) {
+        setLimelightNTDouble(limelightName, "pipeline", pipelineIndex);
+    }
+
+    
+    public static void setPriorityTagID(String limelightName, int ID) {
+        setLimelightNTDouble(limelightName, "priorityid", ID);
+    }
+
+    /**
+     * The LEDs will be controlled by Limelight pipeline settings, and not by robot
+     * code.
+     */
+    public static void setLEDMode_PipelineControl(String limelightName) {
+        setLimelightNTDouble(limelightName, "ledMode", 0);
+    }
+
+    public static void setLEDMode_ForceOff(String limelightName) {
+        setLimelightNTDouble(limelightName, "ledMode", 1);
+    }
+
+    public static void setLEDMode_ForceBlink(String limelightName) {
+        setLimelightNTDouble(limelightName, "ledMode", 2);
+    }
+
+    public static void setLEDMode_ForceOn(String limelightName) {
+        setLimelightNTDouble(limelightName, "ledMode", 3);
+    }
+
+    public static void setStreamMode_Standard(String limelightName) {
+        setLimelightNTDouble(limelightName, "stream", 0);
+    }
+
+    public static void setStreamMode_PiPMain(String limelightName) {
+        setLimelightNTDouble(limelightName, "stream", 1);
+    }
+
+    public static void setStreamMode_PiPSecondary(String limelightName) {
+        setLimelightNTDouble(limelightName, "stream", 2);
+    }
+
+
+    /**
+     * Sets the crop window. The crop window in the UI must be completely open for
+     * dynamic cropping to work.
+     */
+    public static void setCropWindow(String limelightName, double cropXMin, double cropXMax, double cropYMin, double cropYMax) {
+        double[] entries = new double[4];
+        entries[0] = cropXMin;
+        entries[1] = cropXMax;
+        entries[2] = cropYMin;
+        entries[3] = cropYMax;
+        setLimelightNTDoubleArray(limelightName, "crop", entries);
+    }
+   
+    /**
+     * Sets 3D offset point for easy 3D targeting.
+     */
+    public static void setFiducial3DOffset(String limelightName, double offsetX, double offsetY, double offsetZ) {
+        double[] entries = new double[3];
+        entries[0] = offsetX;
+        entries[1] = offsetY;
+        entries[2] = offsetZ;
+        setLimelightNTDoubleArray(limelightName, "fiducial_offset_set", entries);
+    }
+
+    public static void SetRobotOrientation(String limelightName, double yaw, double yawRate, 
+        double pitch, double pitchRate, 
+        double roll, double rollRate) {
+        SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, true);
+    }
+
+    public static void SetRobotOrientation_NoFlush(String limelightName, double yaw, double yawRate, 
+        double pitch, double pitchRate, 
+        double roll, double rollRate) {
+        SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, false);
+    }
+
+    private static void SetRobotOrientation_INTERNAL(String limelightName, double yaw, double yawRate, 
+        double pitch, double pitchRate, 
+        double roll, double rollRate, boolean flush) {
+
+        double[] entries = new double[6];
+        entries[0] = yaw;
+        entries[1] = yawRate;
+        entries[2] = pitch;
+        entries[3] = pitchRate;
+        entries[4] = roll;
+        entries[5] = rollRate;
+        setLimelightNTDoubleArray(limelightName, "robot_orientation_set", entries);
+        if(flush)
+        {
+            Flush();
+        }
+    }
+
+
+    public static void SetFidcuial3DOffset(String limelightName, double x, double y, 
+        double z) {
+
+        double[] entries = new double[3];
+        entries[0] = x;
+        entries[1] = y;
+        entries[2] = z;
+        setLimelightNTDoubleArray(limelightName, "fiducial_offset_set", entries);
+    }
+
+    public static void SetFiducialIDFiltersOverride(String limelightName, int[] validIDs) {
+        double[] validIDsDouble = new double[validIDs.length];
+        for (int i = 0; i < validIDs.length; i++) {
+            validIDsDouble[i] = validIDs[i];
+        }        
+        setLimelightNTDoubleArray(limelightName, "fiducial_id_filters_set", validIDsDouble);
+    }
+
+    public static void SetFiducialDownscalingOverride(String limelightName, float downscale) 
+    {
+        int d = 0; // pipeline
+        if (downscale == 1.0)
+        {
+            d = 1;
+        }
+        if (downscale == 1.5)
+        {
+            d = 2;
+        }
+        if (downscale == 2)
+        {
+            d = 3;
+        }
+        if (downscale == 3)
+        {
+            d = 4;
+        }
+        if (downscale == 4)
+        {
+            d = 5;
+        }
+        setLimelightNTDouble(limelightName, "fiducial_downscale_set", d);
+    }
+    
+    public static void setCameraPose_RobotSpace(String limelightName, double forward, double side, double up, double roll, double pitch, double yaw) {
+        double[] entries = new double[6];
+        entries[0] = forward;
+        entries[1] = side;
+        entries[2] = up;
+        entries[3] = roll;
+        entries[4] = pitch;
+        entries[5] = yaw;
+        setLimelightNTDoubleArray(limelightName, "camerapose_robotspace_set", entries);
+    }
+
+    /////
+    /////
+
+    public static void setPythonScriptData(String limelightName, double[] outgoingPythonData) {
+        setLimelightNTDoubleArray(limelightName, "llrobot", outgoingPythonData);
+    }
+
+    public static double[] getPythonScriptData(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "llpython");
+    }
+
+    /////
+    /////
+
+    /**
+     * Asynchronously take snapshot.
+     */
+    public static CompletableFuture<Boolean> takeSnapshot(String tableName, String snapshotName) {
+        return CompletableFuture.supplyAsync(() -> {
+            return SYNCH_TAKESNAPSHOT(tableName, snapshotName);
+        });
+    }
+
+    private static boolean SYNCH_TAKESNAPSHOT(String tableName, String snapshotName) {
+        URL url = getLimelightURLString(tableName, "capturesnapshot");
+        try {
+            HttpURLConnection connection = (HttpURLConnection) url.openConnection();
+            connection.setRequestMethod("GET");
+            if (snapshotName != null && snapshotName != "") {
+                connection.setRequestProperty("snapname", snapshotName);
+            }
+
+            int responseCode = connection.getResponseCode();
+            if (responseCode == 200) {
+                return true;
+            } else {
+                System.err.println("Bad LL Request");
+            }
+        } catch (IOException e) {
+            System.err.println(e.getMessage());
+        }
+        return false;
+    }
+
+    /**
+     * Parses Limelight's JSON results dump into a LimelightResults Object
+     */
+    public static LimelightResults getLatestResults(String limelightName) {
+
+        long start = System.nanoTime();
+        LimelightHelpers.LimelightResults results = new LimelightHelpers.LimelightResults();
+        if (mapper == null) {
+            mapper = new ObjectMapper().configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false);
+        }
+
+        try {
+            results = mapper.readValue(getJSONDump(limelightName), LimelightResults.class);
+        } catch (JsonProcessingException e) {
+            results.error = "lljson error: " + e.getMessage();
+        }
+
+        long end = System.nanoTime();
+        double millis = (end - start) * .000001;
+        results.latency_jsonParse = millis;
+        if (profileJSON) {
+            System.out.printf("lljson: %.2f\r\n", millis);
+        }
+
+        return results;
+    }
+}
\ No newline at end of file

From bde1715f76bed1918cc096c874ee06d05194faf7 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 30 Oct 2024 18:46:48 -0400
Subject: [PATCH 11/20] LIMELIGHT 3G

---
 .../java/frc/robot/Subsystems/Limelight.java  | 28 -----------
 .../frc/robot/Subsystems/Limelight3G.java     | 48 +++++++++++++++++++
 2 files changed, 48 insertions(+), 28 deletions(-)
 delete mode 100644 src/main/java/frc/robot/Subsystems/Limelight.java
 create mode 100644 src/main/java/frc/robot/Subsystems/Limelight3G.java

diff --git a/src/main/java/frc/robot/Subsystems/Limelight.java b/src/main/java/frc/robot/Subsystems/Limelight.java
deleted file mode 100644
index afeb914..0000000
--- a/src/main/java/frc/robot/Subsystems/Limelight.java
+++ /dev/null
@@ -1,28 +0,0 @@
-// 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableInstance;
-public class Limelight extends SubsystemBase {
-NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
-NetworkTableEntry tx = table.getEntry("tx");
-NetworkTableEntry ty = table.getEntry("ty");
-NetworkTableEntry ta = table.getEntry("ta");
-
-//read values periodically
-double x = tx.getDouble(0.0);
-double y = ty.getDouble(0.0);
-double area = ta.getDouble(0.0);
-  /** Creates a new Limelight. */
-  public Limelight() {}
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}
diff --git a/src/main/java/frc/robot/Subsystems/Limelight3G.java b/src/main/java/frc/robot/Subsystems/Limelight3G.java
new file mode 100644
index 0000000..de2ad2a
--- /dev/null
+++ b/src/main/java/frc/robot/Subsystems/Limelight3G.java
@@ -0,0 +1,48 @@
+// 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+public class Limelight3G extends SubsystemBase {
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
+
+  NetworkTableEntry tx = table.getEntry("tx");
+  NetworkTableEntry ty = table.getEntry("ty");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  NetworkTableEntry tv = table.getEntry("tv");
+  NetworkTableEntry camMode = table.getEntry("camMode");
+  NetworkTableEntry tid = table.getEntry("tid");
+  /** Creates a new Limelight. */
+  public Limelight3G() {
+    for (int port = 5800; port <= 5807; port++) {
+      PortForwarder.add(port, "limelight.local", port);
+  }}
+  public  double getx(){
+    return tx.getDouble(0); 
+  }
+  public double gety(){
+    return ty.getDouble(0);
+  }
+  public double getv(){
+    return tv.getDouble(0);
+  }
+  public void setpipeline(){
+     pipeline.setNumber(0);
+  }
+  public void setcamMode(){
+    camMode.setNumber(0);
+  }
+  public double getTid(){
+    return tid.getDouble(0);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From e9f55c9fd6ee78b7e5955bdf9fd87980f2577705 Mon Sep 17 00:00:00 2001
From: Antoine <2443335@carrefour.cegepvicto.ca>
Date: Wed, 30 Oct 2024 18:56:31 -0400
Subject: [PATCH 12/20] limelight helpers

---
 src/main/java/frc/robot/Subsystems/Limelight.java | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/java/frc/robot/Subsystems/Limelight.java b/src/main/java/frc/robot/Subsystems/Limelight.java
index afeb914..3a18621 100644
--- a/src/main/java/frc/robot/Subsystems/Limelight.java
+++ b/src/main/java/frc/robot/Subsystems/Limelight.java
@@ -4,6 +4,7 @@
 
 package frc.robot.Subsystems;
 
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
@@ -14,6 +15,8 @@ NetworkTableEntry tx = table.getEntry("tx");
 NetworkTableEntry ty = table.getEntry("ty");
 NetworkTableEntry ta = table.getEntry("ta");
 
+
+
 //read values periodically
 double x = tx.getDouble(0.0);
 double y = ty.getDouble(0.0);

From 2533a3a4627f86104d536b58e3c3f91a0075c0cb Mon Sep 17 00:00:00 2001
From: Antoine <2443335@carrefour.cegepvicto.ca>
Date: Wed, 30 Oct 2024 19:08:55 -0400
Subject: [PATCH 13/20] command limelight (manque changer drive pour la
 tourelle)

---
 .../java/frc/robot/Commands/Limelight3g.java  | 54 +++++++++++++++++++
 1 file changed, 54 insertions(+)
 create mode 100644 src/main/java/frc/robot/Commands/Limelight3g.java

diff --git a/src/main/java/frc/robot/Commands/Limelight3g.java b/src/main/java/frc/robot/Commands/Limelight3g.java
new file mode 100644
index 0000000..c1de2a6
--- /dev/null
+++ b/src/main/java/frc/robot/Commands/Limelight3g.java
@@ -0,0 +1,54 @@
+// 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.Command;
+import frc.robot.Subsystems.Drive;
+import frc.robot.Subsystems.Limelight3G;
+
+public class Limelight3g extends Command {
+
+  private Limelight3G enlignement;
+  private Drive drive;
+  /** Creates a new Limelight3g. */
+  public Limelight3g(Limelight3G enlignement, Drive drive) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.drive = drive;
+    this.enlignement = enlignement;
+
+    addRequirements(drive, enlignement);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+    if (enlignement.getv()==1)
+    {
+      drive.drive(0, 0, enlignement.getx()/30);
+    }
+    else
+    {
+      drive.drive(0, 0, 0);
+    }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drive.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 99525dc7d7ef51a1e5aec396b238deb45c320f7a Mon Sep 17 00:00:00 2001
From: Antoine <2443335@carrefour.cegepvicto.ca>
Date: Wed, 30 Oct 2024 19:10:31 -0400
Subject: [PATCH 14/20] renomer

---
 .../robot/Commands/{Limelight3g.java => FollowAprilTag.java}  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)
 rename src/main/java/frc/robot/Commands/{Limelight3g.java => FollowAprilTag.java} (91%)

diff --git a/src/main/java/frc/robot/Commands/Limelight3g.java b/src/main/java/frc/robot/Commands/FollowAprilTag.java
similarity index 91%
rename from src/main/java/frc/robot/Commands/Limelight3g.java
rename to src/main/java/frc/robot/Commands/FollowAprilTag.java
index c1de2a6..57e8169 100644
--- a/src/main/java/frc/robot/Commands/Limelight3g.java
+++ b/src/main/java/frc/robot/Commands/FollowAprilTag.java
@@ -8,12 +8,12 @@ import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Subsystems.Drive;
 import frc.robot.Subsystems.Limelight3G;
 
-public class Limelight3g extends Command {
+public class FollowAprilTag extends Command {
 
   private Limelight3G enlignement;
   private Drive drive;
   /** Creates a new Limelight3g. */
-  public Limelight3g(Limelight3G enlignement, Drive drive) {
+  public FollowAprilTag(Limelight3G enlignement, Drive drive) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.drive = drive;
     this.enlignement = enlignement;

From fd72aaf8bddaa892e7e5c915cbb7dd2e2c26a225 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 30 Oct 2024 19:14:06 -0400
Subject: [PATCH 15/20] Dashboard limelights et accumulateur

---
 src/main/java/frc/robot/RobotContainer.java   |  9 +++++++
 .../frc/robot/Subsystems/Accumulateur.java    | 26 ++++++++++++++++++-
 2 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..8563d06 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,11 +4,20 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 
 public class RobotContainer {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   public RobotContainer() {
+    dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
+    .withSize(3,4)
+    .withPosition(0,0);
+    dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
+    .withSize(3,4)
+    .withPosition(3,0);  
     configureBindings();
   }
 
diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index 4de7f10..adb2996 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -5,6 +5,10 @@
 package frc.robot.Subsystems;
 
 
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
@@ -12,15 +16,35 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
   
   /** Creates a new Accumulateur. */
-  public Accumulateur() {}
+  public Accumulateur() {dashboard.addBoolean("photocellacc", this::limitswitch)
+    .withSize(1, 1)
+    .withPosition(0, 1);
+   
+    }
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  
+  private GenericEntry vitesse =
+      dashboard.add("vitesseacc", 0.1)
+      .withSize(1, 1)
+      .withPosition(0, 4)
+      .getEntry(); 
+      
   final WPI_TalonSRX accumulateur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX accumulateur2 = new WPI_TalonSRX(10);
+  final DigitalInput photocell = new DigitalInput(94);
   public void encodeur(){
   }
+  public boolean limitswitch(){
+    return !photocell.get();
+  }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);
     accumulateur2.set(-vitesse);
   }
+  public void desaccumule(){
+    desaccumule(vitesse.getDouble(0.9));
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 205da73570c07f06d916dc53f0b1b16d3c5c8970 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 30 Oct 2024 19:14:16 -0400
Subject: [PATCH 16/20] lanceur

---
 src/main/deploy/pathplanner/navgrid.json        |  2 +-
 src/main/java/frc/robot/Subsystems/Lanceur.java | 13 +++++++++++--
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
index bab0da9..8050b5c 100644
--- a/src/main/deploy/pathplanner/navgrid.json
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -1 +1 @@
-{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
+{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false]]}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index cd9a27e..82c4bff 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -30,14 +30,23 @@ public class Lanceur extends SubsystemBase {
     lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
     
   }
+  public void masterslave(){
+    lanceur2.follow(lanceur1);
+    lanceur2.setInverted(true);
+  }
   public void lance(double vitesse){
     lanceur1.set(vitesse);
-    lanceur2.set(-vitesse);
   }
   public void tourelRotation(double vitesse){
     tourelle.set(vitesse);
   }
-  public void setPID(double p, double i, int d) {
+  public double distancetourel(){
+    return(tourelle.getEncoder().getPosition());
+  }
+  public void PIDlanceur(double p, double i, double d) {
+   lanceur1.config_kP(0, p);
+   lanceur1.config_kI(0, i);
+   lanceur1.config_kD(0, d);
   }
   @Override
   public void periodic() {

From 1c1e8fb7142e436f832ba8bb7d853e0077244632 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 30 Oct 2024 19:16:34 -0400
Subject: [PATCH 17/20] lance

---
 src/main/java/frc/robot/Commands/Lancer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Commands/Lancer.java b/src/main/java/frc/robot/Commands/Lancer.java
index 9f35fe5..f55e58a 100644
--- a/src/main/java/frc/robot/Commands/Lancer.java
+++ b/src/main/java/frc/robot/Commands/Lancer.java
@@ -19,7 +19,7 @@ public class Lancer extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.PIDlanceur(0, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

From 9f51699e35352724bffaac3506f751680af184aa Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 30 Oct 2024 19:19:59 -0400
Subject: [PATCH 18/20]

---
 src/main/java/frc/robot/Subsystems/Lanceur.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 82c4bff..7d73f1d 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -27,7 +27,6 @@ public class Lanceur extends SubsystemBase {
     lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
-    lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
     
   }
   public void masterslave(){

From 9804a3cfbfd0d254c41e3e1a248881666505afc0 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 30 Oct 2024 19:22:48 -0400
Subject: [PATCH 19/20] apriltag mieu

---
 src/main/java/frc/robot/Commands/FollowAprilTag.java | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/Commands/FollowAprilTag.java b/src/main/java/frc/robot/Commands/FollowAprilTag.java
index 57e8169..86ce2bd 100644
--- a/src/main/java/frc/robot/Commands/FollowAprilTag.java
+++ b/src/main/java/frc/robot/Commands/FollowAprilTag.java
@@ -6,19 +6,20 @@ package frc.robot.Commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Subsystems.Drive;
+import frc.robot.Subsystems.Lanceur;
 import frc.robot.Subsystems.Limelight3G;
 
 public class FollowAprilTag extends Command {
 
   private Limelight3G enlignement;
-  private Drive drive;
+  private Lanceur lanceur;
   /** Creates a new Limelight3g. */
-  public FollowAprilTag(Limelight3G enlignement, Drive drive) {
+  public FollowAprilTag(Limelight3G enlignement, Lanceur lanceur) {
     // Use addRequirements() here to declare subsystem dependencies.
-    this.drive = drive;
+    this.lanceur = lanceur;
     this.enlignement = enlignement;
 
-    addRequirements(drive, enlignement);
+    addRequirements(lanceur, enlignement);
   }
 
   // Called when the command is initially scheduled.

From f1406f0db044d260162b58ff0907a0379b3e8c8c Mon Sep 17 00:00:00 2001
From: Antoine <2443335@carrefour.cegepvicto.ca>
Date: Wed, 30 Oct 2024 19:27:41 -0400
Subject: [PATCH 20/20] limelight avec tourelle

---
 src/main/java/frc/robot/Commands/FollowAprilTag.java | 6 +++---
 src/main/java/frc/robot/Subsystems/Lanceur.java      | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/Commands/FollowAprilTag.java b/src/main/java/frc/robot/Commands/FollowAprilTag.java
index 86ce2bd..89fd4e0 100644
--- a/src/main/java/frc/robot/Commands/FollowAprilTag.java
+++ b/src/main/java/frc/robot/Commands/FollowAprilTag.java
@@ -32,11 +32,11 @@ public class FollowAprilTag extends Command {
 
     if (enlignement.getv()==1)
     {
-      drive.drive(0, 0, enlignement.getx()/30);
+      lanceur.tourelRotation(0,0, enlignement.getx()/30);
     }
     else
     {
-      drive.drive(0, 0, 0);
+      lanceur.tourelRotation(0, 0, 0);
     }
 
   }
@@ -44,7 +44,7 @@ public class FollowAprilTag extends Command {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    drive.drive(0, 0, 0);
+    lanceur.tourelRotation(0, 0, 0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 7d73f1d..ecb14c8 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -36,8 +36,8 @@ public class Lanceur extends SubsystemBase {
   public void lance(double vitesse){
     lanceur1.set(vitesse);
   }
-  public void tourelRotation(double vitesse){
-    tourelle.set(vitesse);
+  public void tourelRotation(double x, double y, double rotation){
+    tourelle.set(rotation);
   }
   public double distancetourel(){
     return(tourelle.getEncoder().getPosition());