Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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

@@ -8,6 +8,7 @@ import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -59,6 +60,10 @@ public void BrakeFerme(){
   brakedroit.set(Value.kReverse);
   brakegauche.set(Value.kReverse);
 }
+public void resetGyro(){
+  try {gyroscope.reset();} catch(Exception e){DriverStation.reportError("bye bye",true);
+ }
+  }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);

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

@@ -17,6 +17,7 @@ public class Gratte extends SubsystemBase {
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
+  
   public boolean hautd(){
     return limithd.get();
   }

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

@@ -8,6 +8,7 @@ import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 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;
@@ -40,6 +41,18 @@ 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() {
     CameraServer.startAutomaticCapture();