Limelight

src/main/java/frc/robot/command/Lancer.java

@@ -9,14 +9,17 @@ package frc.robot.command;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Limelight;
 
 public class Lancer extends Command {
   /** Creates a new Lanceur. */
+  private Limelight limelight;
   private Lanceur lanceur;
-  public Lancer(Lanceur lanceur) {
+  public Lancer(Lanceur lanceur,Limelight limelight) {
+    this.limelight = limelight;
     this.lanceur = lanceur;
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lanceur);
+    addRequirements(lanceur,limelight);
   }
 
   // Called when the command is initially scheduled.
@@ -26,7 +29,9 @@ public class Lancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    if(limelight.getv()){
     lanceur.lancerspeaker();
+    }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/command/Lancerampli.java

@@ -9,15 +9,16 @@ package frc.robot.command;
 import edu.wpi.first.wpilibj2.command.Command;
 
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Limelight;
 
 public class Lancerampli extends Command {
   /** Creates a new Lanceur. */
-
   private Lanceur lanceur;
-  
-  public Lancerampli(Lanceur lanceur) {
+  private Limelight limelight;
+  public Lancerampli(Lanceur lanceur,Limelight limelight) {
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lanceur);
+    addRequirements(lanceur, limelight);
+    this.limelight = limelight;
     this.lanceur = lanceur;
   }
 
@@ -28,7 +29,10 @@ public class Lancerampli extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lanceramp();
+    if(limelight.getv()){
+      lanceur.lanceramp();
+    }
+    
   }
 
   // Called once the command ends or is interrupted.