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limelightTest

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This commit is contained in:
Samuel
2025-11-17 18:01:18 -05:00
parent 04718b8400
commit 77ce877923
2 changed files with 28 additions and 31 deletions
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12
src/main/java/frc/robot/subsystems/Limelight3.java
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@@ -26,10 +26,16 @@ public class Limelight3 extends SubsystemBase {
double[] targetPose = targetPoseEntry.getDoubleArray(new double[6]);
return targetPose;
}
public double[] getBotPose(){
public double[] getBotPoseBlue(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_cameraspace");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[6]);
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[8]);
return BotPose;
}
public double[] getBotPoseRed(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[8]);
return BotPose;
}
public double getTx(){