j

src/main/java/frc/robot/subsystem/Limelight.java

@@ -14,37 +14,39 @@ import frc.robot.LimelightHelpers;
 
 
 public class Limelight extends SubsystemBase {
-  /** Creates a new Limelight. */
-  public Limelight() {
-
   NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
-  NetworkTableInstance.getDefault().getTable("limelight").getEntry("Tv").getDouble(0);
-  NetworkTableInstance.getDefault().getTable("limelight").getEntry("getpipe").getDouble(1);
-  NetworkTableInstance.getDefault().getTable("limelight").getEntry("").getDoubleArray(new double[6]);
-
 
   NetworkTableEntry tx = table.getEntry("tx");
   NetworkTableEntry ty = table.getEntry("ty");
   NetworkTableEntry ta = table.getEntry("ta");
-  NetworkTableEntry botpose = table.getEntry("pose");
-  NetworkTableEntry getpipe = table.getEntry(getName());
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  NetworkTableEntry tv = table.getEntry("tv");
+  NetworkTableEntry camMode = table.getEntry("camMode");
 
-  double x = tx.getDouble(0.0);
-  double y = ty.getDouble(0.0);
-  double area = ta.getDouble(0.0);
-  double pose = botpose.getDouble(area);
-  
-    
-  
+ 
+     /** Creates a new Limelight. */
+  public Limelight() {
+  }
   
+  public double getx(){
+    return tx.getDouble(0);
+  }
+  public double gety(){
+    return ty.getDouble(0);
+  }
+  public double geta() {
+    return ta.getDouble(0);
+  }
+  public boolean getv(){
+    return tv.getBoolean(false);
+  }
+  public double getpipeline(){
+    return pipeline.getDouble(0);
+  }
+  public double getcamMode(){
+    return camMode.getDouble(0);
+  }
 
-  SmartDashboard.putNumber("LimelightX", x);
-  SmartDashboard.putNumber("LimelightY", y);
-  SmartDashboard.putNumber("LimelightArea", area);
-
-}
-
-  
   @Override
   public void periodic() {
     // This method will be called once per scheduler run