From 99f3a8fe2ce3c34a5e1b280cd211a302ab317f12 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Thu, 8 Feb 2024 19:47:36 -0500
Subject: [PATCH]

---
 src/main/java/frc/robot/command/Lancer.java            |  2 +-
 src/main/java/frc/robot/command/Lancerampli.java       |  2 +-
 src/main/java/frc/robot/command/Limelight_tracker.java |  1 +
 src/main/java/frc/robot/subsystem/Drive.java           | 10 +++++-----
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/command/Lancer.java b/src/main/java/frc/robot/command/Lancer.java
index 01eb49c..e7fa56d 100644
--- a/src/main/java/frc/robot/command/Lancer.java
+++ b/src/main/java/frc/robot/command/Lancer.java
@@ -19,7 +19,7 @@ public class Lancer extends Command {
     this.limelight = limelight;
     this.lanceur = lanceur;
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lanceur,limelight);
+    addRequirements(lanceur);
   }
 
   // Called when the command is initially scheduled.
diff --git a/src/main/java/frc/robot/command/Lancerampli.java b/src/main/java/frc/robot/command/Lancerampli.java
index 4a9b3c8..3e1fe59 100644
--- a/src/main/java/frc/robot/command/Lancerampli.java
+++ b/src/main/java/frc/robot/command/Lancerampli.java
@@ -17,7 +17,7 @@ public class Lancerampli extends Command {
   private Limelight limelight;
   public Lancerampli(Lanceur lanceur,Limelight limelight) {
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lanceur, limelight);
+    addRequirements(lanceur);
     this.limelight = limelight;
     this.lanceur = lanceur;
   }
diff --git a/src/main/java/frc/robot/command/Limelight_tracker.java b/src/main/java/frc/robot/command/Limelight_tracker.java
index 78d0f91..9b42d82 100644
--- a/src/main/java/frc/robot/command/Limelight_tracker.java
+++ b/src/main/java/frc/robot/command/Limelight_tracker.java
@@ -29,6 +29,7 @@ public class Limelight_tracker extends Command {
 
     if (tracker.getv()){
       drive.drive(0,0, tracker.getx());
+      
       }
       else{
         drive.drive(0, 0, 0);
diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java
index 7770387..76da4b1 100644
--- a/src/main/java/frc/robot/subsystem/Drive.java
+++ b/src/main/java/frc/robot/subsystem/Drive.java
@@ -32,6 +32,11 @@ public class Drive extends SubsystemBase {
   }
   
   public Drive() {
+     try {
+      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2);
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
     AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig(
       new PIDConstants(5,0,0), new PIDConstants(5,0,0), 4.5,
       0.275,
@@ -43,11 +48,6 @@ public class Drive extends SubsystemBase {
         }
         return false;
          }, this);
-     try {
-      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2);
-    } catch (IOException e) {
-      e.printStackTrace();
-    }
   }
 
   public SwerveModulePosition[] distance(){