Commandes auto sauf 2

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

@@ -4,12 +4,34 @@
 
 package frc.robot.commands;
 
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.Limelight3G;
+import static edu.wpi.first.units.Units.*;
 
 /* 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);
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
+    double botx;
+    double boty;
+    double angle;
+    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
+            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new Limelighter. */
-  public Limelighter() {
+  public Limelighter(Limelight3G limelight3g,CommandSwerveDrivetrain drivetrain) {
+    this.limelight3g = limelight3g;
+    this.drivetrain = drivetrain;
+    addRequirements(drivetrain,limelight3g);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -19,15 +41,31 @@ public class Limelighter extends Command {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    double[] BotPose = new double[6];
+    BotPose = limelight3g.getBotPoseBlue();
+    botx = BotPose[0];
+    boty = BotPose[1];
+    angle = BotPose[5];
+    drivetrain.setControl(drive.withRotationalRate(limelight3g.Calcule(4.625594, botx, 4.034536, boty, BotPose[5])/90));
+    if(limelight3g.Calcule(4.625594, botx, 4.034536, boty, angle)/90 < 0.1){
+      timer.start();
+    }
+    else{
+      timer.reset();
+    }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    drivetrain.setControl(drive.withRotationalRate(0));
+    timer.stop();
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return timer.get() > 1;
   }
 }