49 lines
1.5 KiB
Java
49 lines
1.5 KiB
Java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.Subsystems;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import edu.wpi.first.net.PortForwarder;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.networktables.NetworkTableInstance;
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public class Limelight3G extends SubsystemBase {
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NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
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NetworkTableEntry tx = table.getEntry("tx");
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NetworkTableEntry ty = table.getEntry("ty");
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NetworkTableEntry pipeline = table.getEntry("pipeline");
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NetworkTableEntry tv = table.getEntry("tv");
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NetworkTableEntry camMode = table.getEntry("camMode");
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NetworkTableEntry tid = table.getEntry("tid");
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/** Creates a new Limelight. */
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public Limelight3G() {
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for (int port = 5800; port <= 5807; port++) {
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PortForwarder.add(port, "limelight.local", port);
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}}
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public double getx(){
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return tx.getDouble(0);
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}
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public double gety(){
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return ty.getDouble(0);
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}
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public double getv(){
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return tv.getDouble(0);
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}
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public void setpipeline(){
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pipeline.setNumber(0);
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}
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public void setcamMode(){
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camMode.setNumber(0);
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}
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public double getTid(){
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return tid.getDouble(0);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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