Package com.titaniumtigers4829.utils

Class NTUtils

java.lang.Object
com.titaniumtigers4829.utils.NTUtils
public class NTUtils extends Object

  • Constructor Details

    • NTUtils

      public NTUtils()

  • Method Details

    • getNetworkTableInstance

      public static edu.wpi.first.networktables.NetworkTableInstance getNetworkTableInstance()
      Gets the NetworkTableInstance used for Limelight communication.
      Returns:
      The NetworkTableInstance used for Limelight communication

    • setNetworkTableInstance

      public static void setNetworkTableInstance(edu.wpi.first.networktables.NetworkTableInstance newNetworkTableInstance)
      Sets the NetworkTableInstance to use for Limelight communication. Normally it it uses the default instance. This is useful for unit testing when you might need multiple instances.

    • clearCaches

      public static void clearCaches()
      Clears any static caches held in TigerHelpers. This should be called in your test setup (or teardown) to ensure a fresh state between tests.

    • flushNetworkTable

      public static void flushNetworkTable()
      Flushes the NetworkTables to ensure that any newly updated entry is immediately sent to the network.

    • getLimelightNetworkTable

      public static edu.wpi.first.networktables.NetworkTable getLimelightNetworkTable(String tableName)
      Gets the NetworkTable for a Limelight camera.
      Parameters:
      tableName - The name of the Limelight set in the UI ("" for default)
      Returns:
      NetworkTable for the Limelight

    • getLimelightNetworkTableEntry

      public static edu.wpi.first.networktables.NetworkTableEntry getLimelightNetworkTableEntry(String tableName, String entryName)
      Gets a NetworkTableEntry from a Limelight camera.
      Parameters:
      tableName - The name of the Limelight set in the UI ("" for default)
      entryName - Name of the entry to get
      Returns:
      NetworkTableEntry for the entry name

    • getLimelightNetworkTableDouble

      public static double getLimelightNetworkTableDouble(String tableName, String entryName)
      Gets a NetworkTableEntry from a Limelight camera as a double.
      Parameters:
      tableName - The name of the Limelight set in the UI ("" for default)
      entryName - Name of the entry to get
      Returns:
      double value of the entry

    • setLimelightNetworkTableDouble

      public static void setLimelightNetworkTableDouble(String tableName, String entryName, double val)
      Sets a NetworkTableEntry from a Limelight camera as a double.
      Parameters:
      tableName - The name of the Limelight set in the UI ("" for default)
      entryName - Name of the entry to set
      val - Value to set the entry to

    • getLimelightNetworkTableDoubleArray

      public static double[] getLimelightNetworkTableDoubleArray(String tableName, String entryName)
      Gets a NetworkTableEntry from a Limelight camera as a double array.
      Parameters:
      tableName - The name of the Limelight set in the UI ("" for default)
      entryName - Name of the entry to get
      Returns:
      double array value of the entry

    • setLimelightNetworkTableDoubleArray

      public static void setLimelightNetworkTableDoubleArray(String tableName, String entryName, double[] val)
      Sets a NetworkTableEntry from a Limelight camera as a double array. If you want to the network table array for a PoseEstimate, use setBotPoseEstimate(PoseEstimate, String), if for the RawFiducials use setRawFiducials(RawFiducial[], String).
      Parameters:
      tableName - The name of the Limelight set in the UI ("" for default)
      entryName - Name of the entry to set
      val - Value to set the entry to

    • getLimelightDoubleArrayEntry

      public static edu.wpi.first.networktables.DoubleArrayEntry getLimelightDoubleArrayEntry(String tableName, String entryName)
      Gets a DoubleArrayEntry from a Limelight camera. This is useful for getting raw pose data.
      Parameters:
      tableName - The name of the Limelight set in the UI ("" for default)
      entryName - Name of the entry to get
      Returns:
      DoubleArrayEntry for the entry name