Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

src/main/java/frc/robot/commands/Limelighter.java

@@ -9,7 +9,6 @@ import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -20,7 +19,6 @@ import java.util.Optional;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class Limelighter extends Command {
-  Timer timer;
   Limelight3G limelight3g;
   CommandSwerveDrivetrain drivetrain;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
@@ -39,20 +37,18 @@ public class Limelighter extends Command {
     this.limelight3g = limelight3g;
     this.drivetrain = drivetrain;
     addRequirements(drivetrain, limelight3g);
-    timer = new Timer();
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    timer.reset();
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     double[] BotPose = new double[6];
+    System.out.println("e");
     if (limelight3g.getV()) {
       if(alliance.get() == Alliance.Blue){
         BotPose = limelight3g.getBotPoseBlue();
@@ -72,12 +68,6 @@ public class Limelighter extends Command {
           drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
       System.out.println(calcul);
       if (calcul < 0.2 && calcul > -0.2) {
-    //     timer.start();
-    //   } else {
-    //     timer.reset();
-    //   }
-    // } else {
-    //   timer.stop();
       drivetrain.setControl(drive.withRotationalRate(0));
       }
     }
@@ -91,7 +81,6 @@ public class Limelighter extends Command {
   @Override
   public void end(boolean interrupted) {
     drivetrain.setControl(drive.withRotationalRate(0));
-    timer.stop();
   }
 
   // Returns true when the command should end.