dggggc

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