cleaned up weird merge commit stuff

Team2537 · Dec 10, 2023 · 5341a28 · 5341a28
1 parent 2812112
commit 5341a28
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 19 deletions.
diff --git a/src/main/java/frc/robot/commands/vision/TrackTargetCommand.kt b/src/main/java/frc/robot/commands/vision/TrackTargetCommand.kt
@@ -29,11 +29,11 @@ class TrackTargetCommand : CommandBase() {
     override fun initialize() {}
 
     override fun execute() {
-        rotation = pidController.calculate(limelightSubsystem.xOffset, 0.0)
+        rotation = pidController.calculate(limelightSubsystem.getXOffset(), 0.0)
 
 
 
-        if((abs(limelightSubsystem.xOffset) < 2 && limelightSubsystem.area < 3.5) && limelightSubsystem.targetVisible){
+        if((abs(limelightSubsystem.getXOffset()) < 2 && limelightSubsystem.getArea() < 3.5) && limelightSubsystem.isTargetVisible()){
             translation = Translation2d(0.3, -SingletonXboxController.leftX)
         } else {
             translation = Translation2d(0.0, -SingletonXboxController.leftX)

diff --git a/src/main/java/frc/robot/subsystems/LimelightSubsystem.kt b/src/main/java/frc/robot/subsystems/LimelightSubsystem.kt
@@ -18,23 +18,13 @@ object LimelightSubsystem : SubsystemBase() {
 
     // NetworkTable object for getting data from the Limelight
     private var table: NetworkTable
-
-<<<<<<< HEAD
-    var xOffset: Double = 0.0
-    var yOffset: Double = 0.0
-    var area: Double = 0.0
-    var skew: Double = 0.0
-    var targetVisible: Boolean = false
-
     private var visionTab: ShuffleboardTab
-=======
     // Variables for storing data from the Limelight
     private var xOffset: Double = 0.0
     private var yOffset: Double = 0.0
     private var area: Double = 0.0
     private var skew: Double = 0.0
     private var targetVisible: Boolean = false
->>>>>>> a460a03e86fd31443af08ddf3721adb2fac133d4
 
     init {
         // Get the default NetworkTable for the Limelight
@@ -47,7 +37,6 @@ object LimelightSubsystem : SubsystemBase() {
         tv = table.getEntry("tv")
         ts = table.getEntry("ts")
 
-<<<<<<< HEAD
         visionTab = Shuffleboard.getTab("Vision")
 
         visionTab.addDouble("X Offset") { xOffset }
@@ -56,10 +45,8 @@ object LimelightSubsystem : SubsystemBase() {
         visionTab.addDouble("Skew") { skew }
         visionTab.addBoolean("Target Visible") { targetVisible }
 
-=======
         // Create a Shuffleboard tab for the Limelight
         val visionTab: ShuffleboardTab = Shuffleboard.getTab("Vision")
->>>>>>> a460a03e86fd31443af08ddf3721adb2fac133d4
 
 
     }
@@ -70,9 +57,6 @@ object LimelightSubsystem : SubsystemBase() {
         yOffset = ty.getDouble(0.0)
         area = ta.getDouble(0.0)
         skew = ts.getDouble(0.0)
-<<<<<<< HEAD
-        targetVisible = tv.getDouble(0.0) > 0
-=======
         targetVisible = tv.getDouble(0.0) == 1.0
     }
 
@@ -95,6 +79,5 @@ object LimelightSubsystem : SubsystemBase() {
 
     fun isTargetVisible(): Boolean {
         return targetVisible
->>>>>>> a460a03e86fd31443af08ddf3721adb2fac133d4
     }
 }