// 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;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;

public class Limelight3G extends SubsystemBase {
  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
  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() {
    dashboard.addDouble("tv", this::getv).withSize(0, 0).withPosition(1,3);
    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
  }
}