added vision class
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src/main/java/frc/robot/subsystems/Vision.java
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47
src/main/java/frc/robot/subsystems/Vision.java
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package frc.robot.subsystems;
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import edu.wpi.first.networktables.BooleanSubscriber;
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import edu.wpi.first.networktables.DoubleSubscriber;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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public class Vision extends SubsystemBase{
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private DoubleSubscriber cam1GlobalPose;
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private DoubleSubscriber cam1ClosestTag;
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private BooleanSubscriber cam1TagDetected;
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private DoubleSubscriber framerate;
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public Vision(){
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NetworkTableInstance inst = NetworkTableInstance.getDefault();
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NetworkTable visionTable = inst.getTable("Fiducial");
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cam1GlobalPose = visionTable.getDoubleTopic("cam1GlobalPose").subscribe(0.0);
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cam1ClosestTag = visionTable.getDoubleTopic("cam1ClosestTag").subscribe(0.0);
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cam1TagDetected = visionTable.getBooleanTopic("cam1_visible").subscribe(false);
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// cam2TagDetected = visionTable.getBooleanTopic("cam2_visible").subscribe(false);
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framerate = visionTable.getDoubleTopic("fps").subscribe(0.0);
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}
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public double getCam1GlobalPose(){
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return cam1GlobalPose.get();
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}
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public double getCam1ClosestTag(){
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return cam1ClosestTag.get();
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}
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public boolean getCam1TagDetected(){
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return cam1TagDetected.get();
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}
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public double getFPS(){
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return framerate.get();
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}
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}
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