From bde1715f76bed1918cc096c874ee06d05194faf7 Mon Sep 17 00:00:00 2001
From: OlivierDubois <odubois02@csbf.qc.ca>
Date: Wed, 30 Oct 2024 18:46:48 -0400
Subject: [PATCH] LIMELIGHT 3G

---
 .../java/frc/robot/Subsystems/Limelight.java  | 28 -----------
 .../frc/robot/Subsystems/Limelight3G.java     | 48 +++++++++++++++++++
 2 files changed, 48 insertions(+), 28 deletions(-)
 delete mode 100644 src/main/java/frc/robot/Subsystems/Limelight.java
 create mode 100644 src/main/java/frc/robot/Subsystems/Limelight3G.java

diff --git a/src/main/java/frc/robot/Subsystems/Limelight.java b/src/main/java/frc/robot/Subsystems/Limelight.java
deleted file mode 100644
index afeb914..0000000
--- a/src/main/java/frc/robot/Subsystems/Limelight.java
+++ /dev/null
@@ -1,28 +0,0 @@
-// 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
-  }
-}
diff --git a/src/main/java/frc/robot/Subsystems/Limelight3G.java b/src/main/java/frc/robot/Subsystems/Limelight3G.java
new file mode 100644
index 0000000..de2ad2a
--- /dev/null
+++ b/src/main/java/frc/robot/Subsystems/Limelight3G.java
@@ -0,0 +1,48 @@
+// 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
+  }
+}