From 1f91867209afd9f94af234797434490fd3ffec3e Mon Sep 17 00:00:00 2001
From: Aarav Shah <aaravshah18@gmail.com>
Date: Mon, 5 Apr 2021 16:56:27 -0600
Subject: [PATCH] Trying to fix shooter

---
 .../robot/commands/shooter/TrackTarget.java   |  1 +
 .../frc4388/robot/subsystems/LimeLight.java   | 19 ++++++++++++++++++-
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
index 0fca6a5..dbcfe5a 100644
--- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
@@ -65,6 +65,7 @@ public class TrackTarget extends CommandBase {
     //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
+    m_limeLight.changePipeline(0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java
index 9ea2c96..09bd99d 100644
--- a/src/main/java/frc4388/robot/subsystems/LimeLight.java
+++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java
@@ -19,7 +19,7 @@ public class LimeLight extends SubsystemBase {
   }
 
   public void limeOff(){
-    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1);
   }
   
@@ -27,7 +27,24 @@ public class LimeLight extends SubsystemBase {
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
   }
+  
+  public void changePipeline(int pipelineId)
+  {
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId);
+  }
 
+  public double getV()
+  {
+    return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
+  }
+  public double getX()
+  {
+    return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
+  }
+  public double getY()
+  {
+    return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run