moved teleop LL stuff to LLManager - 3 instances were being created lol

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

@@ -9,7 +9,6 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
-import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -17,6 +16,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
@@ -31,6 +31,7 @@ public class TeleopV3 extends LinearOpMode {
     Servos servo;
     Flywheel flywheel;
     MecanumDrive drive;
+    LimelightManager limelightManager;
 
     public static double manualVel = 3000;
     public static double hoodDefaultPos = 0.5;
@@ -101,15 +102,15 @@ public class TeleopV3 extends LinearOpMode {
         servo = new Servos(hardwareMap);
         flywheel = new Flywheel();
         drive = new MecanumDrive(hardwareMap, teleStart);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
 
         if (redAlliance) {
-            robot.limelight.pipelineSwitch(3);
+            limelightManager.switchMode(LimelightManager.LimelightMode.RED_GOAL);
         } else {
-            robot.limelight.pipelineSwitch(2);
+            limelightManager.switchMode(LimelightManager.LimelightMode.BLUE_GOAL);
         }
 
-        robot.limelight.start();
-
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()) {
@@ -304,12 +305,10 @@ public class TeleopV3 extends LinearOpMode {
             }
 
             if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1) { //not moving
-                double bearing;
+                limelightManager.update();
+                double bearing = limelightManager.getBearing();
                 
-                LLResult result = robot.limelight.getLatestResult();
+                if (limelightManager.getLatestResult() != null && limelightManager.getLatestResult().isValid()) {
-                if (result != null) {
-                    if (result.isValid()) {
-                        bearing = result.getTx();
                     overrideTurr = true;
                     turretPos = servo.getTurrPos() - (bearing / 1300);
 
@@ -317,7 +316,6 @@ public class TeleopV3 extends LinearOpMode {
 
                     // deadband: ignore tiny noise
                     if (Math.abs(bearing) > 0.3 && camTicker < 8) {
-
                         // only accumulate if bearing direction is consistent
                         if (Math.signum(bearingCorrection) == Math.signum(error) ||
                             error == 0) {
@@ -326,8 +324,7 @@ public class TeleopV3 extends LinearOpMode {
                     }
                     camTicker++;
                     TELE.addData("tx", bearing);
-                        TELE.addData("ty", result.getTy());
+                    TELE.addData("ty", limelightManager.getLatestResult().getTy());
-                    }
                 }
 
             } else {