Limelight Disconnect Crash Workaround #49
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# Conflicts: # src/main/java/frc/robot/RobotContainer.java # src/main/java/frc/robot/operator_interface/OperatorInterface.java # src/main/java/frc/robot/operator_interface/SingleHandheldOI.java # src/main/java/frc/robot/subsystems/arm/ArmIO.java # src/main/java/frc/robot/subsystems/arm/ArmIOTalonFX.java # src/main/java/frc/robot/subsystems/vision/Vision.java # src/main/java/frc/robot/subsystems/vision/VisionIO.java # src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java # src/main/java/frc/robot/subsystems/vision/VisionIOLimelightBase.java
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Thanks for jumping on this so fast. |
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I think we're going to want to use the alliance-specific bot pose depending on the current alliance provided by the DriverStation. |
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Apologies, I was not available. I don't think I quite understand; do you mean taking what alliance our robot is on from DS, caching it, and setting the NetworkTables subscriber to either botpose_wpiblue/wpired respectively? And should I rename this PR to something more generalized about Limelights? |
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@Lithiuman How are we feeling about this PR? Should we get this merged in before Heartland? |
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Summary of changes
Added try/catches to prevent code crashing on limelight disconnect, and instead setting an alert to true.
How were these changes tested?
They have not been tested.
Name of contributor (if using team account)
N/A
Issue these changes are linked to, if applicable
Closes #48
After you submit this PR, ask @j0n5m1th or @kenschenke to review it