From c22c507da0cfb03fac0f81927ad8e10b7a2d9971 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 4 Nov 2024 18:38:50 -0500
Subject: [PATCH] touche

---
 src/main/java/frc/robot/RobotContainer.java | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a82b460..5909e38 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,10 +4,16 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.MathUtil;
 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;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.Commands.Desaccumuler;
+import frc.robot.Commands.FollowAprilTag;
+import frc.robot.Commands.Lancer;
 import frc.robot.Subsystems.Accumulateur;
 import frc.robot.Subsystems.Drive;
 import frc.robot.Subsystems.Lanceur;
@@ -19,6 +25,7 @@ public class RobotContainer {
   Limelight3G limelight3G = new Limelight3G();
   Drive drive = new Drive();
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
     .withSize(3,4)
@@ -27,9 +34,16 @@ public class RobotContainer {
     .withSize(3,4)
     .withPosition(3,0);  
     configureBindings();
+    drive.setDefaultCommand(new RunCommand(()->{
+     drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
+    },drive));
+  }
+  
+  private void configureBindings() {
+    Lancer lancer= new Lancer(lanceur);
+    Desaccumuler desaccumuler = new Desaccumuler(accumulateur);
+    FollowAprilTag aprilTag = new FollowAprilTag(limelight3G, lanceur);
   }
-
-  private void configureBindings() {}
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");