led

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

@@ -62,8 +62,9 @@ public class RobotContainer {
     autoChooser = AutoBuilder.buildAutoChooser();
 
     CameraServer.startAutomaticCapture();
-    manette.a().onTrue(guiderBas);
+    manette.a().whileTrue(guiderBas);
-    manette.b().onTrue(guiderHaut);
+    manette.b().whileTrue(guiderHaut);
+    joystick.button(3).toggleOnTrue(balayer);
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
      drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
@@ -73,8 +74,6 @@ public class RobotContainer {
 
   private void configureBindings() {
   
-  joystick.button(3).toggleOnTrue(balayer);
-
   }
 
   public Command getAutonomousCommand(){

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

@@ -0,0 +1,48 @@
+// 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,accumulateur);
+    // 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/subsystem/LED.java

@@ -0,0 +1,27 @@
+// 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.wpilibj2.command.SubsystemBase;
+
+public class LED extends SubsystemBase {
+  /** Creates a new LED. */
+  public LED() {}
+   AddressableLED led = new AddressableLED(9);
+   AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(60);
+   public void led(){
+    led.setData(ledBuffer);
+    led.start();
+   }
+   public void couleur(int R, int G, int B){
+    ledBuffer.setRGB(0, R, G, B);
+   }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}