Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025

src/main/java/frc/robot/Commands/FollowAprilTag.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 FollowAprilTag extends Command {
+
+  private Limelight3G enlignement;
+  private Drive drive;
+  /** Creates a new Limelight3g. */
+  public FollowAprilTag(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;
+  }
+}