Team4388/RiseOfRidgebotics2020
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This commit is contained in:
Aarav Shah
2021-04-03 15:39:00 -06:00
parent 2b760f520b
commit de69bd7a22
5 changed files with 25 additions and 17 deletions
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src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+9 -3
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@@ -39,24 +39,30 @@ public class TrackTarget extends CommandBase {
public double m_hoodTrim;
public double m_turretTrim;
LimeLight m_limeLight;
/**
* Uses the Limelight to track the target
* @param shooterSubsystem The Shooter subsystem
* @param aimSubsystem The ShooterAim subsystem
*/
public TrackTarget(ShooterAim aimSubsystem) {
public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) {
m_shooterAim = aimSubsystem;
m_shooter = m_shooterAim.m_shooterSubsystem;
m_shooterHood = m_shooter.m_shooterHoodSubsystem;
m_limeLight = limeLight;
addRequirements(m_shooterAim);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
//NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
//NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
m_limeLight.limeOff();
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
// Vision Processing Mode
//NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
//NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
}