dggggc

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

@@ -20,6 +20,7 @@ import frc.robot.subsystems.Limelight;
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
+import frc.robot.commands.Cone;
 import frc.robot.commands.GratteBaisser;
 import frc.robot.commands.GratteMonte;
 import frc.robot.commands.Gyro;
@@ -52,7 +53,7 @@ PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
 PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
 PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
-
+Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
 public RobotContainer() {
     configureBindings();
 

src/main/java/frc/robot/commands/Cone.java

@@ -0,0 +1,49 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Limelight;
+
+public class Cone extends CommandBase {
+  private Limelight limelight;
+  private BasePilotable basePilotable;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new ConeCube. */
+  public Cone(Limelight limelight,BasePilotable basePilotable,DoubleSupplier doubleSupplier) {
+    this.basePilotable = basePilotable;
+    this.limelight = limelight;
+    this.doubleSupplier = doubleSupplier;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(limelight,basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    limelight.cone();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    limelight.pilote();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -32,7 +32,7 @@ public class BasePilotable extends SubsystemBase {
     return gyroscope.getPitch();
   }
 
-  public void drive(double xSpeed, double zRotation, double d){
+  public void drive(double xSpeed, double zRotation){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){

src/main/java/frc/robot/subsystems/Limelight.java

@@ -6,6 +6,7 @@ package frc.robot.subsystems;
 
 import org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
+import org.photonvision.targeting.PhotonTrackedTarget;
 
 import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -38,6 +39,18 @@ public class Limelight extends SubsystemBase {
     limelight.setPipelineIndex(1);
   }
 
+  public double getYaw() {
+    var result = limelight.getLatestResult();
+    if(result.hasTargets()){
+    return  result.getBestTarget().getYaw();
+    }
+    return 0;
+  
+  }
+  public void pilote(){
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setDriverMode(true);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run