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This commit is contained in:
Antoine PerreaultE
2025-11-24 17:35:46 -05:00
parent 2b6839b686
commit 6f32b4424d
2 changed files with 22 additions and 10 deletions
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9
src/main/java/frc/robot/subsystems/Limelight3.java
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@@ -27,13 +27,13 @@ public class Limelight3 extends SubsystemBase {
return targetPose;
}
public double[] getBotPoseBlue(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose;
}
public double[] getBotPoseRed(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose;
@@ -48,6 +48,11 @@ public class Limelight3 extends SubsystemBase {
NetworkTableEntry ta = table.getEntry("ta");
return ta.getDouble(0.0);
}
public double getTId(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTableEntry tid = table.getEntry("tid");
return tid.getDouble(0.0);
}
public double getRx(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTableEntry rx = table.getEntry("rx");