40 lines
1.2 KiB
Java
40 lines
1.2 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package frc.robot.subsystems;
|
|
|
|
import edu.wpi.first.net.PortForwarder;
|
|
import edu.wpi.first.networktables.NetworkTable;
|
|
import edu.wpi.first.networktables.NetworkTableEntry;
|
|
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
|
import frc.robot.LimelightHelpers;
|
|
|
|
public class Limelight3 extends SubsystemBase {
|
|
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
|
|
NetworkTableEntry pipeline = table.getEntry("pipeline");
|
|
/** Creates a new Limelight3. */
|
|
public Limelight3() {
|
|
for(int port = 5800; port <=5807; port++){
|
|
PortForwarder.add(port, "limelight.local", port);
|
|
}
|
|
}
|
|
public double getX(){
|
|
return LimelightHelpers.getTX("limelight-balon");
|
|
}
|
|
public boolean getV(){
|
|
return LimelightHelpers.getTV("limelight-balon");
|
|
}
|
|
public void Apriltag(){
|
|
pipeline.setNumber(1);
|
|
}
|
|
public void Forme(){
|
|
pipeline.setNumber(0);
|
|
}
|
|
@Override
|
|
public void periodic() {
|
|
// This method will be called once per scheduler run
|
|
}
|
|
}
|