lime stuff

src/main/java/frc4388/robot/Constants.java

@@ -142,4 +142,19 @@ public final class Constants {
     public static final double RIGHT_AXIS_DEADBAND = 0.6;
     public static final boolean SKEW_STICKS = true; // ! this might have to actually be false, merge conflicts are confusing
   }
+
+  public static final class VisionConstants {
+    public static final String NAME = "Aarav is poopy";
+
+    public static final int LIME_FOV = -1;
+
+    public static final double LIME_HEIGHT = -1.0;
+    public static final double LIME_ANGLE = -1.0;
+
+    public static final double HIGH_TARGET_HEIGHT = -1.0;
+    public static final double HIGHT_TAPE_HEIGHT = -1.0;
+    
+    public static final double MID_TARGET_HEIGHT = -1.0;
+    public static final double MID_TAPE_HEIGHT = -1.0;
+  }
 }

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
+  }
+}

src/main/java/frc4388/utility/AbhiIsADumbass.java

@@ -0,0 +1,43 @@
+// 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.utility;
+
+/** Exception that occurs if the limelight can't see enough points
+ * @author Abhi Sachi
+ * @author Aarav Shah
+ */
+public class AbhiIsADumbass extends Exception {
+    /**
+     * Creates new AbhiIsADumbass with error text 'null'
+     */
+    public AbhiIsADumbass() {
+        super("Unable to see sufficient vision points (Abhi is a dumbass)");
+    }
+
+    /** Creates new AbhiIsADumbass with error text message
+     * 
+     * @param message Error text message
+     */
+    public AbhiIsADumbass(String message) {
+        super(message);
+    }
+
+    /** Creates new AbhiIsADumbass with error text message and detailed stack trace
+     * 
+     * @param message Error text message
+     * @param cause Root cause of error
+     */
+    public AbhiIsADumbass(String message, Throwable cause) {
+        super(message, cause);
+    }
+
+    /** Creates new AbhiIsADumbass with error text 'null' and detailed stack trace
+     * 
+     * @param cause Root cause of error
+     */
+    public AbhiIsADumbass(Throwable cause) {
+        super("Unable to see sufficient vision points (Abhi is a dumbass)", cause);
+    }
+}