Jurrasic Marsh Day 2

src/main/java/frc/robot/subsystems/vision/LimelightHelperUser.java

@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems.vision;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc.robot.subsystems.vision.LimelightHelpers;
+
+public class LimelightHelperUser extends SubsystemBase {
+  String limelightName = "limelight";
+
+  /** Creates a new ExampleSubsystem. */
+  public LimelightHelperUser(String limelightName) {
+    this.limelightName = limelightName;
+  }
+
+  /**
+   * Example command factory method.
+   *
+   * @return a command
+   */
+  public CommandBase exampleMethodCommand() {
+    // Inline construction of command goes here.
+    // Subsystem::RunOnce implicitly requires `this` subsystem.
+    return runOnce(
+        () -> {
+          /* one-time action goes here */
+        });
+  }
+
+  public Pose3d getPose3d() {
+    return LimelightHelpers.getLatestResults(limelightName).targetingResults.getBotPose3d();
+  }
+
+  public double getX() {
+    return getPose3d().getX();
+  }
+
+  public double getY() {
+    return getPose3d().getY();
+  }
+
+  public void reportToSmartDashboard() {
+    SmartDashboard.putNumber("Vision Robot X", getX());
+    SmartDashboard.putNumber("Vision Robot Y", getY());
+  }
+}