Create Limelight_NetworkTables_KL

Limelight_NetworkTables_KL

@@ -0,0 +1,125 @@
+package org.usfirst.frc.team86.robot;
+
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+/**
+ * Wrapper class for getting and setting Limelight NetworkTable values.
+ // Kaitlyn
+
+public class Limelight {
+	private static NetworkTableInstance table = null;
+
+
+	public static enum LightMode {
+		eOn, eOff, eBlink
+	}
+
+	/**
+	 * Camera modes for Limelight.
+
+	 */
+	public static enum CameraMode {
+		eVision, eDriver
+	}
+
+	/**
+	 * Gets whether a target is detected by the Limelight.
+	 * 
+	 * @return true if a target is detected, false otherwise.
+	 */
+	public static boolean isTarget() {
+		return getValue("tv").getDouble(0) == 1;
+	}
+
+	/**
+	 * Horizontal offset from crosshair to target (-27 degrees to 27 degrees).
+	 * 
+	 * @return tx as reported by the Limelight.
+	 */
+	public static double getTx() {
+		return getValue("tx").getDouble(0.00);
+	}
+
+	/**
+	 * Vertical offset from crosshair to target (-20.5 degrees to 20.5 degrees).
+	 * 
+	 * @return ty as reported by the Limelight.
+	 */
+	public static double getTy() {
+		return getValue("ty").getDouble(0.00);
+	}
+
+	/**
+	 * Area that the detected target takes up in total camera FOV (0% to 100%).
+	 * 
+	 * @return Area of target.
+	 */
+	public static double getTa() {
+		return getValue("ta").getDouble(0.00);
+	}
+
+	/**
+	 * Gets target skew or rotation (-90 degrees to 0 degrees).
+	 * 
+	 * @return Target skew.
+	 */
+	public static double getTs() {
+		return getValue("ts").getDouble(0.00);
+	}
+
+	/**
+	 * Gets target latency (ms).
+	 * 
+	 * @return Target latency.
+	 */
+	public static double getTl() {
+		return getValue("tl").getDouble(0.00);
+	}
+
+	/**
+	 * Sets LED mode of Limelight.
+	 * 
+	 * @param mode
+	 *            Light mode for Limelight.
+	 */
+	public static void setLedMode(LightMode mode) {
+		getValue("ledMode").setNumber(mode.ordinal());
+	}
+
+	/**
+	 * Sets camera mode for Limelight.
+	 * 
+	 * @param mode
+	 *            Camera mode for Limelight.
+	 */
+	public static void setCameraMode(CameraMode mode) {
+		getValue("camMode").setNumber(mode.ordinal());
+	}
+
+	/**
+	 * Sets pipeline number (0-9 value).
+	 * 
+	 * @param number
+	 *            Pipeline number (0-9).
+	 */
+	public static void setPipeline(int number) {
+		getValue("pipeline").setNumber(number);
+	}
+
+	/**
+	 * Helper method to get an entry from the Limelight NetworkTable.
+	 * 
+	 * @param key
+	 *            Key for entry.
+	 * @return NetworkTableEntry of given entry.
+	 */
+	private static NetworkTableEntry getValue(String key) {
+		if (table == null) {
+			table = NetworkTableInstance.getDefault();
+		}
+
+		return table.getTable("limelight").getEntry(key);
+	}
+}
+// work with other classes - use for network table values - Hope this helps :)