// 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 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() {
    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() {
    // This method will be called once per scheduler run
  }
}