Limelight Subsystem replacement (REVIEWS ONLY, WILL NOT MERGE)

src/main/java/frc/robot/Hardware.java

@@ -49,4 +49,6 @@ public class Hardware {
   public static final String PHOTON_IP = "10.24.12.11";
   public static final String LEFT_CAM = "Arducam_OV9782L";
   public static final String RIGHT_CAM = "Arducam_OV9281R";
+  public static final String LEFT_LIMELIGHT = "left_limelight";
+  public static final String RIGHT_LIMELIGHT = "right_limelight";
 }

src/main/java/frc/robot/Robot.java

@@ -17,6 +17,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.Subsystems.SubsystemConstants;
+import frc.robot.libs.LimelightHelpers;
 import frc.robot.subsystems.SuperStructure;
 import frc.robot.subsystems.auto.AutoBuilderConfig;
 import frc.robot.subsystems.auto.AutoLogic;
@@ -115,6 +116,10 @@ public void robotPeriodic() {
     if (subsystems.visionSubsystem != null) {
       subsystems.visionSubsystem.update();
     }
+    LimelightHelpers.setPipelineIndex("", 0);
+    LimelightHelpers.setLEDMode_PipelineControl("");
+    // Force LEDs on/off/blink
+    LimelightHelpers.setLEDMode_ForceOn("");
   }
 
   @Override

src/main/java/frc/robot/libs/LLCamera.java

@@ -0,0 +1,71 @@
+package frc.robot.libs;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import frc.robot.libs.LimelightHelpers.PoseEstimate;
+import frc.robot.libs.LimelightHelpers.RawDetection;
+import frc.robot.libs.LimelightHelpers.RawFiducial;
+
+public class LLCamera {
+  private static String name;
+
+  public LLCamera(String name) {
+    LLCamera.name = name;
+  }
+
+  public LLCamera() {
+    this("limelight");
+  }
+
+  public int getNumTargets() {
+    int tar = LimelightHelpers.getTargetCount(name);
+    return tar;
+  }
+
+  public boolean hasValidTarget() {
+    return LimelightHelpers.getTV(name);
+  }
+
+  public double getHoritontalOffset() {
+    return LimelightHelpers.getTX(name);
+  }
+
+  public double getVerticalOffset(String limelightName) {
+    return LimelightHelpers.getTY(name);
+  }
+
+  public double getTargetArea() {
+    return LimelightHelpers.getTA(name);
+  }
+
+  public RawFiducial[] getRawFiducials() {
+    return LimelightHelpers.getRawFiducials(name);
+  }
+
+  public RawDetection[] getRawDetections() {
+    return LimelightHelpers.getRawDetections(name);
+  }
+
+  public void setPipeline(int pipeline) {
+    LimelightHelpers.setPipelineIndex(name, pipeline);
+  }
+
+  public double getPipelineNumber() {
+    return LimelightHelpers.getCurrentPipelineIndex(name);
+  }
+
+  public String getPipeline() {
+    return LimelightHelpers.getCurrentPipelineType(name);
+  }
+
+  public Pose3d getPose3d() {
+    return LimelightHelpers.getBotPose3d_wpiBlue(name);
+  }
+
+  public PoseEstimate getPoseEstimate() {
+    return LimelightHelpers.getBotPoseEstimate_wpiBlue(name);
+  }
+
+  public PoseEstimate getPoseEstimateMegatag2() {
+    return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(name);
+  }
+}