53 lines
1.6 KiB
Java
53 lines
1.6 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.subsystem;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.LimelightHelpers;
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public class Limelight extends SubsystemBase {
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/** Creates a new Limelight. */
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public Limelight() {
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NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
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NetworkTableInstance.getDefault().getTable("limelight").getEntry("Tv").getDouble(0);
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NetworkTableInstance.getDefault().getTable("limelight").getEntry("getpipe").getDouble(1);
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NetworkTableInstance.getDefault().getTable("limelight").getEntry("").getDoubleArray(new double[6]);
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NetworkTableEntry tx = table.getEntry("tx");
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NetworkTableEntry ty = table.getEntry("ty");
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NetworkTableEntry ta = table.getEntry("ta");
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NetworkTableEntry botpose = table.getEntry("pose");
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NetworkTableEntry getpipe = table.getEntry(getName());
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double x = tx.getDouble(0.0);
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double y = ty.getDouble(0.0);
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double area = ta.getDouble(0.0);
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double pose = botpose.getDouble(area);
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SmartDashboard.putNumber("LimelightX", x);
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SmartDashboard.putNumber("LimelightY", y);
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SmartDashboard.putNumber("LimelightArea", area);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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