69 lines
1.5 KiB
Java
69 lines
1.5 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems;
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import org.photonvision.PhotonCamera;
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import org.photonvision.common.hardware.VisionLEDMode;
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import edu.wpi.first.net.PortForwarder;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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public class Limelight extends SubsystemBase {
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PhotonCamera limelight = new PhotonCamera("limelight");
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/** Creates a new Limelight. */
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public Limelight() {
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PortForwarder.add(5800, "photonvision.local", 5800);
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}
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public void cube() {
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limelight.setLED(VisionLEDMode.kOff);
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limelight.setPipelineIndex(3);
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}
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public void cone() {
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limelight.setLED(VisionLEDMode.kOff);
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limelight.setPipelineIndex(2);
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}
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public void apriltag() {
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limelight.setLED(VisionLEDMode.kOff);
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limelight.setPipelineIndex(0);
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}
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public void tape() {
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limelight.setLED(VisionLEDMode.kOn);
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limelight.setPipelineIndex(1);
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}
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public double getYaw() {
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var result = limelight.getLatestResult();
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if(result.hasTargets()){
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return -result.getBestTarget().getYaw()/45;
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}
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return 0;
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}
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public void pilote(){
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limelight.setLED(VisionLEDMode.kOff);
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limelight.setDriverMode(true);
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}
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public void joueurhumain(){
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limelight.setLED(VisionLEDMode.kOn);
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}
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public void joueurhumain1(){
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limelight.setLED(VisionLEDMode.kOff);
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}
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@Override
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public void periodic() {
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}
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}
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