tested note detection

Team334 · Apr 5, 2024 · 08e8426 · 08e8426
1 parent 2d51d56
commit 08e8426
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -39,9 +39,9 @@ public void robotInit() {
     // for (int port = 5800; port <= 5807; port++) {
     //   PortForwarder.add(port, "limelight.local", port);
     // }
-    PortForwarder.add(5800, "limelight-main.local", 5800);
-    PortForwarder.add(5801, "limelight-main.local", 5801);
-    PortForwarder.add(5805, "limelight-main.local", 5805);
+    PortForwarder.add(5800, "limelight-intake.local", 5800);
+    PortForwarder.add(5801, "limelight-intake.local", 5801);
+    PortForwarder.add(5805, "limelight-intake.local", 5805);
 
     // PortForwarder.add(5810, "limelight-intake.local", 5810);
     // PortForwarder.add(5811, "limelight-intake.local", 5811);

diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -22,6 +22,8 @@ public VisionSubsystem() {}
   public void periodic() {
     Optional<double[]> noteAngles = getNoteAngles();
 
+    SmartDashboard.putBoolean("SEES NOTE", getNoteAngles().isPresent());
+
     if (noteAngles.isPresent()) {
       SmartDashboard.putNumber("NOTE TX", noteAngles.get()[0]);
       SmartDashboard.putNumber("NOTE TY", noteAngles.get()[1]);
@@ -61,6 +63,8 @@ public Optional<PoseEstimate> getBotposeBlue() {
   public Optional<double[]> getNoteAngles() {
     if (!isNoteVisible()) return Optional.empty();
 
+    SmartDashboard.putNumber("SHOULD BE RIGHT TX", LimelightHelper.getTX(Limelights.INTAKE));
+
     double[] angles = {
       LimelightHelper.getTX(Limelights.INTAKE),
       LimelightHelper.getTY(Limelights.INTAKE)