From d2864098f34369d3c42cbcf8a6cc780d31175102 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Sat, 21 Mar 2026 14:27:25 -0400 Subject: [PATCH] Limelight --- .../frc/robolib/vision/limelight/Limelight.java | 15 ++------------- 1 file changed, 2 insertions(+), 13 deletions(-) diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/vision/limelight/Limelight.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/vision/limelight/Limelight.java index 6ad1cf4..f0ac33a 100644 --- a/lib/src/main/java/org/fairportrobotics/frc/robolib/vision/limelight/Limelight.java +++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/vision/limelight/Limelight.java @@ -3,29 +3,18 @@ // the WPILib BSD license file in the root directory of this project. package org.fairportrobotics.frc.robolib.vision.limelight; - -import com.ctre.phoenix6.hardware.Pigeon2; - -import edu.wpi.first.math.VecBuilder; -import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator3d; -import edu.wpi.first.math.kinematics.SwerveModulePosition; public class Limelight { private String name; - private Pigeon2 gyro; private SwerveDrivePoseEstimator3d poseEstimator; - public Limelight(String name, Pigeon2 gyro, SwerveDrivePoseEstimator3d poseEstimator) { + public Limelight(String name, SwerveDrivePoseEstimator3d poseEstimator) { this.name = name; - this.gyro = gyro; this.poseEstimator = poseEstimator; } - public LimelightHelpers.PoseEstimate updateOdometry() { - boolean useMegaTag2 = true; //set to false to use MegaTag1 - boolean doRejectUpdate = false; - + public LimelightHelpers.PoseEstimate updateOdometry() { LimelightHelpers.SetRobotOrientation(name, Math.toDegrees(poseEstimator.getEstimatedPosition().getRotation().getZ()), 0, 0, 0, 0, 0); return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2("limelight"); }