From 3c25b4b39b19962f4670c633fa640363fb4d390f Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Tue, 30 Jan 2024 18:16:02 -0500
Subject: [PATCH 1/2] n

---
 .../java/frc/robot/subsystem/Limelight.java   | 21 ++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/subsystem/Limelight.java b/src/main/java/frc/robot/subsystem/Limelight.java
index e26d582..9fb068b 100644
--- a/src/main/java/frc/robot/subsystem/Limelight.java
+++ b/src/main/java/frc/robot/subsystem/Limelight.java
@@ -4,20 +4,31 @@
 
 package frc.robot.subsystem;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.LimelightHelpers;
+
 
 
 public class Limelight extends SubsystemBase {
   /** Creates a new Limelight. */
   public Limelight() {
 
-    boolean tv = LimelightHelpers.getTV("No_name");
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
+  NetworkTableEntry tx = table.getEntry("tx");
+  NetworkTableEntry ty = table.getEntry("ty");
+  NetworkTableEntry ta = table.getEntry("ta");
+
+  double x = tx.getDouble(0.0);
+  double y = ty.getDouble(0.0);
+  double area = ta.getDouble(0.0);
+
+  SmartDashboard.putNumber("LimelightX", x);
+  SmartDashboard.putNumber("LimelightY", y);
+  SmartDashboard.putNumber("LimelightArea", area);
 
-    double tx = LimelightHelpers.getTX("No_name");
-    double ty = LimelightHelpers.getTY("No_name");
-    double ta = LimelightHelpers.getTA("No_name");
 }
 
   

From 03cdfadb6d3ce7ba69bd0e9bdde704b661c7790e Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Tue, 30 Jan 2024 18:18:22 -0500
Subject: [PATCH 2/2] Guideur guideur guiderHaut

---
 src/main/java/frc/robot/command/GuiderHaut.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/command/GuiderHaut.java b/src/main/java/frc/robot/command/GuiderHaut.java
index 586ebbd..1eb052e 100644
--- a/src/main/java/frc/robot/command/GuiderHaut.java
+++ b/src/main/java/frc/robot/command/GuiderHaut.java
@@ -10,7 +10,7 @@ import frc.robot.subsystem.Guideur;
 public class GuiderHaut extends Command {
   private Guideur guideur;
   /** Creates a new GuiderHaut. */
-  public GuiderHaut() {
+  public GuiderHaut(Guideur guideur) {
     this.guideur = guideur;
     addRequirements(guideur);
     // Use addRequirements() here to declare subsystem dependencies.