Revert "NeuralNetwork support"

This reverts commit c69dffa.
Team334 · Mar 20, 2024 · 5a1ff5c · 5a1ff5c
1 parent 88a079b
commit 5a1ff5c
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Showing 3 changed files with 9 additions and 107 deletions.
diff --git a/src/main/java/frc/robot/commands/auto/NoteAllign.java b/src/main/java/frc/robot/commands/auto/NoteAllign.java
diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -27,8 +27,6 @@
  */
 public class VisionSubsystem extends SubsystemBase {
   private final LimelightHelper _main = new LimelightHelper("main");
-  private final LimelightHelper _intake = new LimelightHelper("intake");
-
 
   private final MedianFilter _xFilter = new MedianFilter(20); // TODO: change?
   private final MedianFilter _yFilter = new MedianFilter(20);
@@ -176,11 +174,4 @@ public double[] tagAngleOffsets(int ID) {
 
     return angles;
   }
-
-  public double[] getNoteAngles() {
-    JsonNode target = _intake.getNeuralTarget();
-    double[] angles = {target.get("tx").asDouble(), target.get("ty").asDouble()};
-
-    return angles;
-  }
 }
diff --git a/src/main/java/frc/robot/utils/helpers/LimelightHelper.java b/src/main/java/frc/robot/utils/helpers/LimelightHelper.java
@@ -3,8 +3,6 @@
 
 import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
-import com.fasterxml.jackson.databind.node.ArrayNode;
-
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
@@ -30,33 +28,21 @@ public NetworkTableEntry getEntry(String name) {
     return _limelight.getEntry(name);
   }
 
-  /** Return json from limelight. */
-  public JsonNode getJson() {
-    String jsonString = getEntry("json").getString("");
-    try {
-      return _objectMapper.readTree(jsonString);
-    } catch (Exception e) {
-      throw new Error("Cannot Read JSON From Limelight.");
-    }
-  }
-
-  /** 
-   * Returns the neural target from the limelight.
-   * 
-   */
-  public JsonNode getNeuralTarget() {
-    ArrayNode targets = (ArrayNode) getJson().get("Results").get("Detector");
-
-    return targets.get(0);
-  }
-
   /**
    * Returns a JsonNode array containing found tags and their info.
    *
    * @see JsonNode
    */
   public JsonNode getTags() {
-    JsonNode tags = getJson().get("Results").get("Fiducial");
+    String jsonString = getEntry("json").getString("");
+
+    JsonNode tags;
+
+    try {
+      tags = _objectMapper.readTree(jsonString).get("Results").get("Fiducial");
+    } catch (Exception e) {
+      throw new Error("Cannot Read JSON From Limelight.");
+    }
 
     return tags;
   }