From f9dd8385edcfd2b0ec19078f22777d535582b238 Mon Sep 17 00:00:00 2001
From: HeeistHo <chriskaceli7@gmail.com>
Date: Tue, 27 Jun 2023 17:11:34 -0400
Subject: [PATCH] started base code

---
 .../java/frc/robot/subsystems/PhotonBack.java | 48 +++++++++++++++++++
 .../frc/robot/subsystems/PhotonFront.java     |  0
 2 files changed, 48 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/PhotonBack.java
 create mode 100644 src/main/java/frc/robot/subsystems/PhotonFront.java

diff --git a/src/main/java/frc/robot/subsystems/PhotonBack.java b/src/main/java/frc/robot/subsystems/PhotonBack.java
new file mode 100644
index 0000000..c41a156
--- /dev/null
+++ b/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();
+  }
+
+}
diff --git a/src/main/java/frc/robot/subsystems/PhotonFront.java b/src/main/java/frc/robot/subsystems/PhotonFront.java
new file mode 100644
index 0000000..e69de29