Use limelight for snap #135
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… the target This fixes a bug where if the limelight was reading an angle greater than the snap tolerance, it would make it impossible to aim at cone posts. This fixes that.
I believe (but I can't be sure) that the x direction goes positive as the target is to the right
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Does it in some way require drive? |
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Indirectly, yes, it requires drive. |
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It's not a command but instead a subsystem feature. |
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This lets us use the limelight to snap to targets. It does this simply by using the subsystem and updating every periodic that the snap button is pressed. Tested and worked in the sim with fake limelight angle return.