From 6ca6bc0f97adf84fb19deb3f8528d5f3db0b5f55 Mon Sep 17 00:00:00 2001
From: Gael <gvaldez7206@stu.neisd.net>
Date: Wed, 10 Jan 2024 17:25:47 -0600
Subject: [PATCH] removed vision

---
 src/main/java/frc/robot/modules/Vision.java | 93 ---------------------
 1 file changed, 93 deletions(-)
 delete mode 100644 src/main/java/frc/robot/modules/Vision.java

diff --git a/src/main/java/frc/robot/modules/Vision.java b/src/main/java/frc/robot/modules/Vision.java
deleted file mode 100644
index 016e912..0000000
--- a/src/main/java/frc/robot/modules/Vision.java
+++ /dev/null
@@ -1,93 +0,0 @@
-package frc.robot.modules;
-
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import frc.robot.Constants;
-
-/**
- * Vision subsystem.
- */
-
-public class Vision {
-    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
-    double deadPocket = Constants.VisionConstants.deadPocket;
-    double h1 = Constants.VisionConstants.limelightHeight;
-    double h2 = Constants.VisionConstants.targetHeight;
-    double a1 = Constants.VisionConstants.limelightAngle;
-    double calculatedValue;
-    double a2;
-    double distance = 0.0;
-    double disX = 0;
-    double disY = 0;
-    double tx = 0;
-    double ty = 0;
-    double tv = 0;
-    double calculated;
-    boolean targetFound = false;
-
-    /**
-     *
-     * @return distance from target in inches
-     */
-    public double getDistance() {
-        // Vertical Offset From Crosshair To Target (LL1: -20.5 degrees to 20.5 degrees | LL2:
-        // -24.85 to 24.85 degrees)
-        a2 = table.getEntry("ty").getDouble(0.0);
-        distance = (h2 - h1) / java.lang.Math.tan(java.lang.Math.toRadians(a1 + a2));
-        return distance;
-    }
-
-    /**
-     *
-     * @return distance from center of target
-     */
-
-    public double getAimValue() {
-        // Horizontal Offset From Crosshair To Target (LL1: -27 degrees to 27 degrees | LL2: -29.8
-        // to 29.8 degrees)
-        tx = table.getEntry("tx").getDouble(0.0);
-        // targetFound = false;
-        // disX = 0;
-        disX = tx;
-        double calculated = (disX / 125) * 3;
-        calculated =
-            (Math.abs(calculated) <= deadPocket) ? 0 : (calculated >= .3) ? .3 : calculated;
-        return calculated;
-    }
-
-    /**
-     * @return whether target is found
-     */
-    public boolean getTargetFound() {
-        // Whether the limelight has any valid targets (0 or 1)
-        tv = table.getEntry("tv").getDouble(0.0);
-        return tv == 1.0;
-    }
-
-    /**
-     * @return whether target is aligned
-     */
-    public boolean getTargetAligned() {
-        return getTargetFound() && calculated == 0;
-    }
-
-    /**
-     * Turn the Limelight LEDs on or off.
-     *
-     * @param enabled True to turn on the LEDs, False to turn off.
-     */
-    public void setLEDMode(boolean enabled) {
-        int value = enabled ? 3 : 1;
-        this.table.getEntry("ledMode").setNumber(value);
-    }
-
-    /**
-     * Sets the Limelight camera mode, Driver or Vision mode.
-     *
-     * @param driver True to enable Drive mode, False to enable Vision mode.
-     */
-    public void setCameraMode(boolean driver) {
-        int value = driver ? 1 : 0;
-        this.table.getEntry("camMode").setNumber(value);
-    }
-}