vgft

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

@@ -50,13 +50,14 @@ public class Limelighter extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
+      if(!alliance.isPresent()){return;}
       if(alliance.get() == Alliance.Blue){
         BotPose = limelight3g.getBotPoseBlue();
       }
       else{
         BotPose = limelight3g.getBotPoseRed();
       }
-      
+    
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();