From 1367087b1402f16bbbd9df487bef40df6e400a27 Mon Sep 17 00:00:00 2001
From: Antoine <2443335@carrefour.cegepvicto.ca>
Date: Mon, 4 Nov 2024 18:53:43 -0500
Subject: [PATCH] commande limelight 3 forme + couleur manque pipline

---
 .../frc/robot/Commands/FollowAprilTag.java    |  2 +-
 .../robot/Commands/Tracker_Couleur_Forme.java | 47 +++++++++++++++++++
 2 files changed, 48 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc/robot/Commands/Tracker_Couleur_Forme.java

diff --git a/src/main/java/frc/robot/Commands/FollowAprilTag.java b/src/main/java/frc/robot/Commands/FollowAprilTag.java
index a44d9ec..0f4a1ef 100644
--- a/src/main/java/frc/robot/Commands/FollowAprilTag.java
+++ b/src/main/java/frc/robot/Commands/FollowAprilTag.java
@@ -27,7 +27,7 @@ public class FollowAprilTag extends Command {
   @Override
   public void execute() {
 
-    if (enlignement.getv()==1)
+    if (enlignement.getv()==1)  
     {
       lanceur.tourelRotation(0,0, enlignement.getx()/30);
     }
diff --git a/src/main/java/frc/robot/Commands/Tracker_Couleur_Forme.java b/src/main/java/frc/robot/Commands/Tracker_Couleur_Forme.java
new file mode 100644
index 0000000..36b4da1
--- /dev/null
+++ b/src/main/java/frc/robot/Commands/Tracker_Couleur_Forme.java
@@ -0,0 +1,47 @@
+// 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.Limelight3G;
+
+
+public class Tracker_Couleur_Forme extends Command {
+  /** Creates a new Tracker_Couleur_Forme. */
+  private Limelight3G pipeline;
+  public Tracker_Couleur_Forme(Limelight3G tracker_couleur, Limelight3G tracker_forme) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.pipeline = pipeline;
+    this.tracker_couleur = tracker_couleur;
+    this.tracker_forme = tracker_forme;
+  }
+
+  // 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 (pipeline == 1) {
+      Limelight3G.tracker_couleur;
+    }
+    else if (pipeline == 2){
+      Limelight3G.tracker_forme;
+    }
+    
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}