lime stuff

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

@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.opencv.core.Point;
+import org.photonvision.PhotonCamera;
+import org.photonvision.common.hardware.VisionLEDMode;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.TargetCorner;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.VisionConstants;
+import frc4388.utility.AbhiIsADumbass;
+
+public class Limelight extends SubsystemBase {
+  private PhotonCamera cam;
+  /** Creates a new LImelight. */
+  public Limelight() {
+    cam = new PhotonCamera(VisionConstants.NAME);
+  }
+
+  public void setLEDs(boolean on) {
+    cam.setLED(on ? VisionLEDMode.kOn : VisionLEDMode.kOff);
+  }
+
+  public void setDriverMode(boolean driverMode) {
+    cam.setDriverMode(driverMode);
+  }
+
+  public Point getTargetPoints() throws AbhiIsADumbass {
+    PhotonPipelineResult result = cam.getLatestResult();
+
+    if (!result.hasTargets()) throw new AbhiIsADumbass();
+
+    Point point = new Point();
+    List<TargetCorner> corners = result.getTargets().get(0).getDetectedCorners();
+
+    double x1, x2, y1, y2;
+    double mx, my;
+
+    return new Point(mx, my);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}