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Trying to fix shooter

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This commit is contained in:
Aarav Shah
2021-04-05 16:56:27 -06:00
parent de69bd7a22
commit 1f91867209
2 changed files with 19 additions and 1 deletions
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src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+1
View File
@@ -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.
src/main/java/frc4388/robot/subsystems/LimeLight.java
+18 -1
View File
@@ -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