PLS5618/robot-2023
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Merge branch 'main' of https://demerso.net/pls5618/2023/robot

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This commit is contained in:
Antoine PerreaultE
2023-02-20 19:12:27 -05:00
parent 0d9f19b844 7ef7548415
commit f4061cb391
4 changed files with 68 additions and 5 deletions
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13
src/main/java/frc/robot/subsystems/Limelight.java
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@ -8,6 +8,7 @@ import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import org.photonvision.PhotonCamera;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.targeting.PhotonTrackedTarget;
import edu.wpi.first.net.PortForwarder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@ -40,6 +41,18 @@ public class Limelight extends SubsystemBase {
limelight.setPipelineIndex(1);
}
public double getYaw() {
var result = limelight.getLatestResult();
if(result.hasTargets()){
return result.getBestTarget().getYaw();
}
return 0;
}
public void pilote(){
limelight.setLED(VisionLEDMode.kOff);
limelight.setDriverMode(true);
}
@Override
public void periodic() {
CameraServer.startAutomaticCapture();