sdesharnais/Rebuilt-2026
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debug de samedi

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samuel desharnais
2026-03-21 16:11:24 -04:00
parent e0c1e26933
commit a7fb3108ea
18 changed files with 178 additions and 150 deletions
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14
src/main/java/frc/robot/subsystems/LimeLight3.java
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@@ -12,7 +12,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.LimelightHelpers;
public class LimeLight3 extends SubsystemBase {
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry pipeline = table.getEntry("pipeline");
/** Creates a new LimeLight3. */
public LimeLight3() {
@@ -21,34 +21,34 @@ public class LimeLight3 extends SubsystemBase {
}
}
public double[] getBotPoseBlue(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose;
}
public double[] getBotPoseRed(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose;
}
public double getTx(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry tx = table.getEntry("tx");
return tx.getDouble(0.0);
}
public double getTId(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry tid = table.getEntry("tid");
return tid.getDouble(0.0);
}
public double getTA(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry ta = table.getEntry("ta");
return ta.getDouble(0.0);
}
public boolean getV(){
return LimelightHelpers.getTV("limelight-balon");
return LimelightHelpers.getTV("limelight-balaie");
}
public void AprilTag(){
pipeline.setNumber(0);