Track target

src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java

@@ -67,6 +67,7 @@ public class TrackTarget extends CommandBase {
   @Override
   public void execute() {    
     try {
+      m_visionOdometry.setDriverMode(false);
       m_visionOdometry.setLEDs(true);
 
       points = m_visionOdometry.getTargetPoints();
@@ -153,6 +154,8 @@ public class TrackTarget extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
+    m_visionOdometry.setLEDs(false);
+    m_visionOdometry.setDriverMode(true);
   }
 
   // Returns true when the command should end.

src/main/java/frc4388/robot/subsystems/VisionOdometry.java

@@ -47,6 +47,9 @@ public class VisionOdometry extends SubsystemBase {
     m_camera = new PhotonCamera(VisionConstants.NAME);
     m_drive = drive;
     m_shooter = shooter;
+
+    setLEDs(false);
+    setDriverMode(true);
   }
 
   /** Gets the vision points from the limelight
@@ -93,6 +96,10 @@ public class VisionOdometry extends SubsystemBase {
     m_camera.setLED(on ? VisionLEDMode.kOn : VisionLEDMode.kOff);
   }
 
+  public void setDriverMode(boolean driverMode) {
+    m_camera.setDriverMode(driverMode);
+  }
+
   public Point getTargetOffset() throws VisionObscuredException {
     ArrayList<Point> screenPoints = getTargetPoints();