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] 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;
+  }
+}