PLS5618/robot-2023
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hello there

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This commit is contained in:
EdwardFaucher
2023-02-15 17:24:38 -05:00
parent 1dc859cb74
commit 12aa68574f
3 changed files with 60 additions and 33 deletions
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20
src/main/java/frc/robot/subsystems/Limelight.java
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@ -4,11 +4,29 @@
package frc.robot.subsystems;
import org.photonvision.PhotonCamera;
import org.photonvision.common.hardware.VisionLEDMode;
import edu.wpi.first.net.PortForwarder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Limelight extends SubsystemBase {
PhotonCamera limelight = new PhotonCamera("limelight");
/** Creates a new Limelight. */
public Limelight() {}
public Limelight() {
PortForwarder.add(5800, "photonvision.local", 5800);
}
public void cube() {
limelight.setLED(VisionLEDMode.kOff);
limelight.setPipelineIndex(3);
}
public void Cone() {
limelight.setLED(VisionLEDMode.kOff);
limelight.setPipelineIndex(2);
}
@Override
public void periodic() {