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limelight s'anligne test

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This commit is contained in:
Samuel
2025-11-12 18:56:01 -05:00
parent f590d88c2d
commit 820d7de306
2 changed files with 42 additions and 6 deletions
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12
src/main/java/frc/robot/subsystems/Limelight3.java
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@@ -20,6 +20,18 @@ public class Limelight3 extends SubsystemBase {
PortForwarder.add(port, "limelight.local", port);
}
}
public double[] getTargetPose(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTableEntry targetPoseEntry = limelightTable.getEntry("targetpose_cameraspace");
double[] targetPose = targetPoseEntry.getDoubleArray(new double[6]);
return targetPose;
}
public double[] getBotPose(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_cameraspace");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[6]);
return BotPose;
}
public double getTx(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTableEntry tx = table.getEntry("tx");