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LIMELIGHT 3G

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This commit is contained in:
Olivier Dubois 2024-10-30 18:46:48 -04:00
parent 48a4f2e0f4
commit bde1715f76
2 changed files with 48 additions and 28 deletions
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28
src/main/java/frc/robot/Subsystems/Limelight.java
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// 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.wpilibj2.command.SubsystemBase;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
public class Limelight extends SubsystemBase {
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTableEntry tx = table.getEntry("tx");
NetworkTableEntry ty = table.getEntry("ty");
NetworkTableEntry ta = table.getEntry("ta");
//read values periodically
double x = tx.getDouble(0.0);
double y = ty.getDouble(0.0);
double area = ta.getDouble(0.0);
/** Creates a new Limelight. */
public Limelight() {}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

48
src/main/java/frc/robot/Subsystems/Limelight3G.java Normal file
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// 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.wpilibj2.command.SubsystemBase;
import edu.wpi.first.net.PortForwarder;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
public class Limelight3G extends SubsystemBase {
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTableEntry tx = table.getEntry("tx");
NetworkTableEntry ty = table.getEntry("ty");
NetworkTableEntry pipeline = table.getEntry("pipeline");
NetworkTableEntry tv = table.getEntry("tv");
NetworkTableEntry camMode = table.getEntry("camMode");
NetworkTableEntry tid = table.getEntry("tid");
/** Creates a new Limelight. */
public Limelight3G() {
for (int port = 5800; port <= 5807; port++) {
PortForwarder.add(port, "limelight.local", port);
}}
public double getx(){
return tx.getDouble(0);
}
public double gety(){
return ty.getDouble(0);
}
public double getv(){
return tv.getDouble(0);
}
public void setpipeline(){
pipeline.setNumber(0);
}
public void setcamMode(){
camMode.setNumber(0);
}
public double getTid(){
return tid.getDouble(0);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}