Package frc.robot.subsystems

Class LimeLightSub

public class LimeLightSub
extends SubsystemBase

Implements a LimeLightSubsystem.

Constructor Summary

                                                            Constructors
        

LimeLightSub(String limelight_networktable_name)  Allocates a LimeLightSub with the given NetworkTable.

Method Summary

Modifer and Type Description

• boolean hasTarget() Returns if there is a detected target. Returns 0 or 1.
• boolean getTx()  Returns the crosshair degree angle from the center of the target (left and right).
• double getID()  Returns the target (Apriltag) ID decremented by 1.
• double getTy()  Returns the crosshair degree angle from the center of the target (top and bottom).
• double getTheta()  Returns the sum angle from robot's constant CAMERA_HEIGHT and ty.
• double getAngle()  Returns tx value but in radians.
• double getPipeLine()  Returns the current pipeline index;
• void setPipeline(double pipeline)  Sets the current pipeline.
• boolean checkPipe()  Returns if is there is a pipeline.
• void setPoint()  Sets the target point of for each respective PIDController
• double getDistance()  Returns the distance of robot from target AprilTag in meters.
• double getDistanceX()  Returns the (forward and backward) distance of the robot from target AprilTag in meters.
• double getDistanceY()  Returns the (left and right) distance of the robot from target AprilTag in meters.
• double getErrorX()  Returns PIDController calculation for distanceX to target point (using botPose values).
• double getErrorY()  Returns PIDController calculation for distanceY to target point (using botPose values).
• double getThetaErrorX()  Returns PIDController calculation for tx to target point.
• double getSmoothThetaError()  Returns PIDController calculation for yaw (left and right) to target point using botPose values.