Team4388/2023WayOfTheRobot
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aarav18
2023-03-18 17:23:38 -06:00
parent bf8a271df2
commit cd7c53bf83
2 changed files with 19 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/Limelight.java
+13 -3
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@@ -4,21 +4,33 @@
package frc4388.robot.subsystems;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import org.photonvision.EstimatedRobotPose;
import org.photonvision.PhotonCamera;
import org.photonvision.PhotonPoseEstimator;
import org.photonvision.PhotonPoseEstimator.PoseStrategy;
import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.VisionConstants;
public class Limelight extends SubsystemBase {
private PhotonCamera cam;
private PhotonPoseEstimator photonPoseEstimator;
private boolean lightOn;
@@ -149,7 +161,5 @@ public class Limelight extends SubsystemBase {
}
@Override
public void periodic() {
SmartDashboard.putNumber("April Skew", getAprilSkew());
}
public void periodic() {}
}