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

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+// 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 Apriltag extends CommandBase {
+  private Limelight limelight;
+  private BasePilotable basePilotable;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new Apriltag. */
+  public Apriltag(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.apriltag();
+  }
+
+  // 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/commands/Cube.java

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+// 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 Cube extends CommandBase {
+  private Limelight limelight;
+  private BasePilotable basePilotable;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new cube. */
+  public Cube(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.cube();
+  }
+
+  // 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/commands/Tape.java

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+// 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 Tape extends CommandBase {
+  private Limelight limelight;
+  private BasePilotable basePilotable;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new Tape. */
+  public Tape(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.tape();
+  }
+
+  // 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;
+  }
+}