src/main/java/frc/robot/RobotContainer.java

@@ -21,7 +21,6 @@ import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 // Commands
-import frc.robot.command.AllumeLED;
 import frc.robot.command.Balayer;
 import frc.robot.command.GrimpeurDroit;
 import frc.robot.command.GrimpeurGauche;
@@ -33,7 +32,6 @@ import frc.robot.command.LancerNote;
 import frc.robot.command.Lancerampli;
 import frc.robot.command.Limelight_tracker;
 import frc.robot.command.PistonFerme;
-import frc.robot.command.Pistongrimpeur;
 import frc.robot.command.PistonOuvre;
 // Subsystems
 import frc.robot.subsystem.Accumulateur;
@@ -41,7 +39,6 @@ import frc.robot.subsystem.Balayeuse;
 import frc.robot.subsystem.Drive;
 import frc.robot.subsystem.Grimpeur;
 import frc.robot.subsystem.Guideur;
-import frc.robot.subsystem.LED;
 import frc.robot.subsystem.Lanceur;
 import frc.robot.subsystem.Limelight;
 
@@ -56,7 +53,6 @@ public class RobotContainer {
   Guideur guideur = new Guideur();
   Lanceur lanceur = new Lanceur();
   Limelight limelight = new Limelight();
-  LED LED = new LED();
   CommandJoystick joystick = new CommandJoystick(0);
   CommandXboxController manette = new CommandXboxController(1);
   /*private final Relay blue = new Relay(0);
@@ -71,8 +67,6 @@ public class RobotContainer {
   Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
    GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftY);
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightY);
-  AllumeLED allumeLED = new AllumeLED(LED, accumulateur); 
-  Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
   public RobotContainer() {
 
     dashboard.addCamera("limelight", "limelight","limelight.local:5800")
@@ -83,6 +77,8 @@ public class RobotContainer {
     .withSize(4, 4)
     .withPosition(3, 0);
 
+    CameraServer.startAutomaticCapture();
+
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
     NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
@@ -110,7 +106,9 @@ public class RobotContainer {
     grimpeur.gauche(MathUtil.applyDeadband(-manette.getRightY(),0.2 ));}
     ,grimpeur));
       
-      LED.setDefaultCommand(allumeLED);
+      dashboard.add("autochooser",autoChooser)
+      .withSize(2,1)
+      .withPosition(1,1);
   }
 
   private void configureBindings() {}

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

@@ -1,48 +0,0 @@
-// 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.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystem.Accumulateur;
-import frc.robot.subsystem.LED;
-
-public class AllumeLED extends Command {
-  private LED led;
-  private Accumulateur accumulateur;
-  /** Creates a new AllumeLED. */
-  public AllumeLED(LED led,Accumulateur accumulateur){
-    this.accumulateur = accumulateur;
-    this.led = led;
-    addRequirements(led);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-   if(accumulateur.limitswitch()){
-    led.couleur(0, 255, 0);
-   }
-   else{
-    led.couleur(255, 0, 0);
-   }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    led.couleur(255, 0, 0);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

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

@@ -1,49 +0,0 @@
-// 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.command;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystem.Grimpeur;
-import frc.robot.subsystem.LED;
-
-public class Pistongrimpeur extends Command {
-  private LED LED;
-  private Grimpeur grimpeur;
-  /** Creates a new Pistongrimpeur. */
-  public Pistongrimpeur(Grimpeur grimpeur,LED LED) {
-    this.grimpeur = grimpeur;
-    this.LED = LED;
-    addRequirements(grimpeur,LED);
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    grimpeur.pistonouvre();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    
-    if(grimpeur.piston()){
-      LED.couleur(0, 0, 255);
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    LED.couleur(0, 0, 0);
-    
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/subsystem/LED.java

@@ -1,32 +0,0 @@
-// 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.subsystem;
-
-import edu.wpi.first.wpilibj.AddressableLED;
-import edu.wpi.first.wpilibj.AddressableLEDBuffer;
-import edu.wpi.first.wpilibj.Relay;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class LED extends SubsystemBase {
-  /** Creates a new LED. */
-  public LED() {}
-  
-   AddressableLED led = new AddressableLED(9);
-   AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(150);
-    
-   public void led(){
-    led.setData(ledBuffer);
-    led.start();}
-   
-   public void couleur(int R, int G,int B){
-    for (int i = 0; i < ledBuffer.getLength(); i++) {
-    // Sets the specified LED to the RGB values for red
-    ledBuffer.setRGB(i, 255, 0, 0);}
-    }
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}