Tank limit widget

.java-version

@@ -0,0 +1 @@
+temurin64-17.0.5

src/main/java/frc/robot/subsystems/Tank.java

@@ -3,8 +3,10 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.shuffleboard.*;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -24,21 +26,26 @@ public class Tank extends SubsystemBase {
   public DifferentialDrive drive;
 
   public boolean brakeMode;
-
+  private GenericEntry stallWidget;
+  private GenericEntry freeWidget;
+  private int stallLimit;
+  private int freeLimit;
   /** */
   public Tank() {
     if (CanConstants.kBaseType == "tank") {
       leftFront = new CANSparkMax(Constants.CanConstants.kLeftFrontMotorPort, MotorType.kBrushless);
       leftFront.restoreFactoryDefaults();
       leftFront.setInverted(true);
       leftFront.setIdleMode(IdleMode.kCoast);
+      leftFront.setSmartCurrentLimit(40);
       leftFront.setOpenLoopRampRate(Constants.CanConstants.kRampRate);
       leftFront.burnFlash();
 
       leftRear = new CANSparkMax(Constants.CanConstants.kLeftRearMotorPort, MotorType.kBrushless);
       leftRear.restoreFactoryDefaults();
       leftRear.setInverted(true);
       leftRear.setIdleMode(IdleMode.kCoast);
+      leftRear.setSmartCurrentLimit(40);
       leftRear.setOpenLoopRampRate(Constants.CanConstants.kRampRate);
       leftRear.burnFlash();
 
@@ -50,13 +57,15 @@ public Tank() {
       rightFront.restoreFactoryDefaults();
       rightFront.setInverted(false);
       rightFront.setIdleMode(IdleMode.kCoast);
+      rightFront.setSmartCurrentLimit(40);
       rightFront.setOpenLoopRampRate(Constants.CanConstants.kRampRate);
       rightFront.burnFlash();
 
       rightRear = new CANSparkMax(Constants.CanConstants.kRightRearMotorPort, MotorType.kBrushless);
       rightRear.restoreFactoryDefaults();
       rightRear.setInverted(false);
       rightRear.setIdleMode(IdleMode.kCoast);
+      rightRear.setSmartCurrentLimit(40);
       rightRear.setOpenLoopRampRate(Constants.CanConstants.kRampRate);
       rightRear.burnFlash();
 
@@ -76,6 +85,17 @@ public Tank() {
       brakeMode = false;
       SmartDashboard.putBoolean("brakeMode", brakeMode);
 
+      // create a new slider widget for the current limits
+      stallWidget =
+          Shuffleboard.getTab("Config")
+              .add("Stall Limit", 40)
+              .withWidget(BuiltInWidgets.kNumberSlider)
+              .getEntry();
+      freeWidget =
+          Shuffleboard.getTab("Config")
+              .add("Free Limit", 40)
+              .withWidget(BuiltInWidgets.kNumberSlider)
+              .getEntry();
       leftFront.setSmartCurrentLimit(40, 60);
       leftRear.setSmartCurrentLimit(40, 60);
       rightFront.setSmartCurrentLimit(40, 60);
@@ -87,6 +107,15 @@ public Tank() {
   public void periodic() {
     SmartDashboard.putNumber("leftStickY", RobotContainer.getLeftStickY());
     SmartDashboard.putNumber("rightStickX", RobotContainer.getRightStickX());
+
+    // set all four motors to the stall and free limit widget values
+    stallLimit = (int) stallWidget.getDouble(10);
+    freeLimit = (int) freeWidget.getDouble(40);
+
+    leftFront.setSmartCurrentLimit(stallLimit, freeLimit);
+    leftRear.setSmartCurrentLimit(stallLimit, freeLimit);
+    rightFront.setSmartCurrentLimit(stallLimit, freeLimit);
+    rightRear.setSmartCurrentLimit(stallLimit, freeLimit);
   }
 
   /**

src/main/java/frc/robot/subsystems/Vision.java

@@ -1,33 +1,21 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.ColorSensorV3;
-import edu.wpi.first.math.util.Units;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.Preferences;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import org.photonvision.PhotonCamera;
-import org.photonvision.targeting.PhotonPipelineResult;
+import java.lang.reflect.Array;
 
 public class Vision extends SubsystemBase {
-  private PhotonCamera limelight;
   private ColorSensorV3 colorSensor;
-
-  // Constants such as camera and target height stored. Change per robot and goal!
-
-  final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
-
-  final double TARGET_HEIGHT_METERS = Units.feetToMeters(5);
-
-  // Angle between horizontal and the camera.
-
-  final double CAMERA_PITCH_RADIANS = Units.degreesToRadians(0);
-
+  NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
   // Pipeline mode.
   public static final String kLimelightPipelineKey = "limelight-pipeline";
 
   public Vision() {
     // Stuff goes here
-    limelight = new PhotonCamera("limelight");
     colorSensor = new ColorSensorV3(I2C.Port.kOnboard);
     // Set default pipeline
     if (!Preferences.containsKey(kLimelightPipelineKey)) {
@@ -47,12 +35,28 @@ public void simulationPeriodic() {
   }
 
   /**
-   * Get the latest pipeline result.
+   * Get the selected property from the NetworkTable.
    *
-   * @return The latest pipeline result.
+   * @param property The property to fetch.
+   * @return The fetched property.
    */
-  public PhotonPipelineResult getLatestResult() {
-    return limelight.getLatestResult();
+  public Array[]
+      getProperties() { // we don't know what type we return until we process it in the if statement
+    // //
+    var tx = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
+    var ty = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
+    var tv = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
+    var ta = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ta").getDouble(0);
+    var tl = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tl").getDouble(0);
+    var cl = NetworkTableInstance.getDefault().getTable("limelight").getEntry("cl").getDouble(0);
+    var tshort =
+        NetworkTableInstance.getDefault().getTable("limelight").getEntry("tshort").getDouble(0);
+    var tlong =
+        NetworkTableInstance.getDefault().getTable("limelight").getEntry("tlong").getDouble(0);
+    var thor =
+        NetworkTableInstance.getDefault().getTable("limelight").getEntry("thor").getDouble(0);
+    var tvert =
+        NetworkTableInstance.getDefault().getTable("limelight").getEntry("tvert").getDouble(0);
   }
 
   /**