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

@@ -12,10 +12,11 @@ import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 // Manette
-
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 // Manettes
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -29,6 +30,8 @@ import frc.robot.command.GuiderHaut;
 import frc.robot.command.Lancer;
 import frc.robot.command.LancerNote;
 import frc.robot.command.Lancerampli;
+import frc.robot.command.Limelight_tracker;
+import frc.robot.command.Pistongrimpeur;
 // Subsystems
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -55,6 +58,7 @@ public class RobotContainer {
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
    //command
+   Limelight_tracker limelight_tracker = new Limelight_tracker(limelight,drive);
    Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
   GuiderBas guiderBas = new GuiderBas(guideur);
@@ -64,6 +68,7 @@ public class RobotContainer {
    GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
   AllumeLED allumeLED = new AllumeLED(LED);
+  Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
   public RobotContainer() {
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
@@ -74,6 +79,8 @@ public class RobotContainer {
     manette.b().whileTrue(guiderHaut);
     joystick.button(3).toggleOnTrue(balayer);
     joystick.button(1).whileTrue(lancernote);
+    joystick.button(4).whileTrue(new ParallelCommandGroup(lancer,limelight_tracker));
+    joystick.button(2).whileTrue(new ParallelCommandGroup(lancerampli,limelight_tracker,guiderHaut));
     
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
@@ -83,6 +90,7 @@ public class RobotContainer {
       grimpeur.droit(manette.getLeftX());}
       ,grimpeur));
       LED.setDefaultCommand(allumeLED);
+      
   }
 
   private void configureBindings() {