Team4388/2024AcrossTheRidgebotiverse
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Add reverse mode

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Add reverse mode
Add example auto sequential commands

TODO:
Run with the robot
Do math
This commit is contained in:
Astatin3
2024-02-16 17:04:46 -07:00
parent 4b7cb07c1b
commit 84c5313a50
5 changed files with 60 additions and 22 deletions
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src/main/java/frc4388/robot/subsystems/Limelight.java
+4 -2
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@@ -53,6 +53,10 @@ public class Limelight extends SubsystemBase {
}
isNearSpeaker = distance <= VisionConstants.SpeakerBubbleDistance;
SmartDashboard.putBoolean("nearSpeaker", isNearSpeaker);
SmartDashboard.putBoolean("Apriltag", isTag);
SmartDashboard.putNumber("speakerDistance", distance);
}
public Pose2d getPose() {
@@ -69,8 +73,6 @@ public class Limelight extends SubsystemBase {
isTag = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getBoolean(false);
double[] newPose = NetworkTableInstance.getDefault().getTable("limelight").getEntry("botpose").getDoubleArray(new double[6]);
SmartDashboard.putBoolean("Apriltag", isTag);
if(newPose != cameraPose){
cameraPose = newPose;