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Making Galactic Search work

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This commit is contained in:
ryan123rudder
2021-03-19 01:34:57 -06:00
parent d5a4d6cab3
commit d9fc99ba4a
5 changed files with 196 additions and 23 deletions
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src/main/java/frc4388/robot/subsystems/LimeLight.java
+20
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@@ -14,6 +14,8 @@ public class LimeLight extends SubsystemBase {
/**
* Creates a new LimeLight.
*/
public String galacticSearchPath;
public LimeLight() {
}
@@ -27,6 +29,24 @@ 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() {