added vision class

This commit is contained in:
Tylr-J42 2025-01-30 01:59:08 -05:00
parent 0e91643b57
commit 34a547026d

View File

@ -0,0 +1,47 @@
package frc.robot.subsystems;
import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Vision extends SubsystemBase{
private DoubleSubscriber cam1GlobalPose;
private DoubleSubscriber cam1ClosestTag;
private BooleanSubscriber cam1TagDetected;
private DoubleSubscriber framerate;
public Vision(){
NetworkTableInstance inst = NetworkTableInstance.getDefault();
NetworkTable visionTable = inst.getTable("Fiducial");
cam1GlobalPose = visionTable.getDoubleTopic("cam1GlobalPose").subscribe(0.0);
cam1ClosestTag = visionTable.getDoubleTopic("cam1ClosestTag").subscribe(0.0);
cam1TagDetected = visionTable.getBooleanTopic("cam1_visible").subscribe(false);
// cam2TagDetected = visionTable.getBooleanTopic("cam2_visible").subscribe(false);
framerate = visionTable.getDoubleTopic("fps").subscribe(0.0);
}
public double getCam1GlobalPose(){
return cam1GlobalPose.get();
}
public double getCam1ClosestTag(){
return cam1ClosestTag.get();
}
public boolean getCam1TagDetected(){
return cam1TagDetected.get();
}
public double getFPS(){
return framerate.get();
}
}