mode auto pls marche pls

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

@@ -7,6 +7,8 @@ package frc.robot.commands;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 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;
@@ -14,6 +16,8 @@ import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Limelight3G;
 import static edu.wpi.first.units.Units.*;
 
+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;
@@ -25,6 +29,7 @@ public class Limelighter extends Command {
   double boty;
   double angle;
   double calcul;
+   Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
       .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -49,7 +54,13 @@ public class Limelighter extends Command {
   public void execute() {
     double[] BotPose = new double[6];
     if (limelight3g.getV()) {
-      BotPose = limelight3g.getBotPoseBlue();
+      if(alliance.get() == Alliance.Blue){
+        BotPose = limelight3g.getBotPoseBlue();
+      }
+      else{
+        BotPose = limelight3g.getBotPoseRed();
+      }
+      
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();