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Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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samuel desharnais
2023-02-15 18:29:37 -05:00
parent 52539e1f4f eed8f171e1
commit 1eb96e5d55
7 changed files with 113 additions and 34 deletions
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30
src/main/java/frc/robot/subsystems/Limelight.java
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@ -4,11 +4,39 @@
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);
}
public void apriltag() {
limelight.setLED(VisionLEDMode.kOff);
limelight.setPipelineIndex(0);
}
public void tape() {
limelight.setLED(VisionLEDMode.kOn);
limelight.setPipelineIndex(1);
}
@Override
public void periodic() {