stash

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java

@@ -19,6 +19,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -26,7 +27,6 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -165,10 +165,7 @@ public class TeleopV3 extends LinearOpMode {
 
 //        robot.limelight.start();
 
-        AprilTagWebcam webcam = new AprilTagWebcam();
-        webcam.init(robot, TELE);
-
-        Turret turret = new Turret(robot, TELE, webcam);
+        Turret turret = new Turret(robot, TELE, robot.limelight);
         waitForStart();
 
         waitForStart();
@@ -398,8 +395,6 @@ public class TeleopV3 extends LinearOpMode {
 
             turret.trackGoal(deltaPose);
 
-            webcam.update();
-
             //VELOCITY AUTOMATIC
             if (targetingVel) {
                 vel = targetingSettings.flywheelRPM;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/TurretTest.java

@@ -24,10 +24,7 @@ public class TurretTest extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
 
-        AprilTagWebcam webcam = new AprilTagWebcam();
-        webcam.init(robot, TELE);
-
-        Turret turret = new Turret(robot, TELE, webcam);
+        Turret turret = new Turret(robot, TELE, robot.limelight);
         waitForStart();
 
 
@@ -38,10 +35,6 @@ public class TurretTest extends LinearOpMode {
             drive.updatePoseEstimate();
             turret.trackGoal(drive.localizer.getPose());
 
-            webcam.update();
-            webcam.displayAllTelemetry();
-
-
 
             TELE.update();
         }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java

@@ -20,7 +20,7 @@ public class Robot {
 
     //Initialize Public Components
 
-    public static boolean usingLimelight = false;
+    public static boolean usingLimelight = true;
     public static boolean usingCamera = true;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java

@@ -5,6 +5,7 @@ import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 
@@ -23,7 +24,7 @@ public class Turret {
     public static double angleMultiplier = 0.0;
     Robot robot;
     MultipleTelemetry TELE;
-    AprilTagWebcam webcam;
+    Limelight3A webcam;
     private int obeliskID = 0;
     private double turrPos = 0.0;
     private double offset = 0.0;
@@ -31,7 +32,7 @@ public class Turret {
 
 
 
-    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
+    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
         this.robot = rob;
         this.webcam = cam;