started base code

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

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import org.photonvision.PhotonCamera;
+import org.photonvision.targeting.PhotonPipelineResult;
+
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class PhotonBack extends SubsystemBase {
+
+    public String photonName;
+    PhotonCamera cam = new PhotonCamera(photonName);
+    boolean hasTarget = false;
+
+  /** Creates a new PhotonBack. */
+  public PhotonBack(String photonName) {
+    this.photonName = photonName;
+
+    CommandScheduler.getInstance().registerSubsystem(this);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+
+  public PhotonPipelineResult getPipelineResult() {
+    return cam.getLatestResult();
+  }
+
+  public double getYaw(){
+    return getPipelineResult().getBestTarget().getYaw();
+  }
+
+  public double getPitch(){
+    return getPipelineResult().getBestTarget().getPitch();
+  }
+
+  public double getSkew(){
+    return getPipelineResult().getBestTarget().getSkew();
+  }
+
+}