added vision class

src/main/java/frc/robot/subsystems/Vision.java

@@ -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();
+    }
+    
+}