src/main/java/frc/robot/Commands/LEDactive.java

@@ -21,9 +21,7 @@ public class LEDactive extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    led.led(25, 25, 100);
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -31,7 +29,7 @@ public class LEDactive extends Command {
     if(accumulateur.photocell())
     led.led(0, 255, 0);
     else{
-      led.led(255, 0, 0);
+      led.led(25, 25, 100);
     }
   }
   
@@ -39,7 +37,7 @@ public class LEDactive extends Command {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    led.led(0, 0, 0);
+    led.led(25, 25, 100);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/RobotContainer.java

@@ -4,7 +4,8 @@
 
 package frc.robot;
 
-
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -15,28 +16,24 @@ 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.LEDactive;
 import frc.robot.Commands.Lancer;
 import frc.robot.Subsystems.Accumulateur;
-import frc.robot.Subsystems.LED;
 //import frc.robot.Subsystems.Drive;
 import frc.robot.Subsystems.Lanceur;
 import frc.robot.Subsystems.Limelight3G;
-//import com.pathplanner.lib.auto.AutoBuilder;
-//import com.pathplanner.lib.auto.NamedCommands;
+
 public class RobotContainer {
- // private final SendableChooser<Command> autoChooser;
+  private final SendableChooser<Command> autoChooser;
   Lanceur lanceur= new Lanceur();
   Accumulateur accumulateur = new Accumulateur();
   Limelight3G limelight3G = new Limelight3G();
-  LED led = new LED();
   //Drive drive = new Drive();
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
-   //NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
-   //NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur));
-   //autoChooser = AutoBuilder.buildAutoChooser();
+   NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
+   NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur));
+   autoChooser = AutoBuilder.buildAutoChooser();
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
     .withSize(3,4)
     .withPosition(5,0);
@@ -47,9 +44,9 @@ public class RobotContainer {
     //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));
-  // dashboard.add("autochooser",autoChooser)
-     //.withSize(1,1)
-    // .withPosition(8,0);
+   dashboard.add("autochooser",autoChooser)
+     .withSize(1,1)
+     .withPosition(8,0);
   }
   
   private void configureBindings() {
@@ -57,11 +54,9 @@ public class RobotContainer {
     manette.x().whileTrue(new Lancer(lanceur,accumulateur));
     manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
     manette.a().whileTrue(new Desaccumuler(accumulateur));
-    manette.y().whileTrue(new LEDactive(accumulateur, led));
   }
 
   public Command getAutonomousCommand() {
-    return null;
-   // return autoChooser.getSelected();
+    return autoChooser.getSelected();
   }
 }

src/main/java/frc/robot/Subsystems/LED.java

@@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class LED extends SubsystemBase {
   /** Creates a new LED. */
   public LED() {}
-  CANdle led = new CANdle(1);
+  CANdle led = new CANdle(0);
   public void led(int R, int G, int B){
     led.setLEDs(R, G, B);
   }

src/main/java/frc/robot/Subsystems/Lanceur.java

@@ -35,7 +35,7 @@ public class Lanceur extends SubsystemBase {
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(15);
   final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless);
   final DigitalInput limitswitch1 = new DigitalInput(0);
-  final DigitalInput limitswitch2 = new DigitalInput(3);
+  final DigitalInput limitswitch2 = new DigitalInput(1);
   private GenericEntry vitesse =
         dashboard.add("vitesselanceur", 0.2) 
         .withSize(0,0)