From b87b322e4f7c9bda65eec086d8ec0c90083e032e Mon Sep 17 00:00:00 2001
From: Quinn <ollieollieausum@gmail.com>
Date: Mon, 23 Oct 2023 15:12:32 -0500
Subject: [PATCH] abstract limelight to take input limelight name

- quinn
---
 src/main/java/frc/robot/RobotContainer.java   |  5 +++--
 .../java/frc/robot/subsystems/Limelight.java  | 22 +++++++++++++------
 2 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8e10504..c33fa99 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -59,8 +59,9 @@ public class RobotContainer {
    * TODO: organize later
    */
   /* Autotasks are mostly commented out in here for now because I don't care that they exist */
-  private final Limelight limelight = new Limelight();
-  private final Drive driveSubsystem = new Drive(limelight);
+  private final Limelight back_limelight = new Limelight("limelight-back");
+  private final Limelight front_limelight = new Limelight("limelight-front");
+  private final Drive driveSubsystem = new Drive(back_limelight);
   /* BIG CHUNGUS ARM CODE */
   //private final I2CManager I2CManager = new I2CManager();
   //private final ArmBase armBase = new ArmBase();
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index dcdd236..72d9b40 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -40,20 +40,28 @@ public class Limelight extends SubsystemBase {
    * to understand what the heck the different indices in this array mean
    */
   private double[] botpos;
+  private String name;
 
-  /** Creates a new Limelight. Should be run once from {@link frc.robot.RobotContainer}. */
-  public Limelight() {
-    tvSubscriber = NetworkTableInstance.getDefault().getDoubleTopic("/limelight-back/tv").subscribe(0.0);
-    txSubscriber = NetworkTableInstance.getDefault().getDoubleTopic("/limelight-back/tx").subscribe(0.0);
-    tySubscriber = NetworkTableInstance.getDefault().getDoubleTopic("/limelight-back/ty").subscribe(0.0);
-    taSubscriber = NetworkTableInstance.getDefault().getDoubleTopic("/limelight-back/ta").subscribe(0.0);
+  private String fmtPath(String end) {
+    return "/" + name + "/" + end;
+  }
+
+  /** Creates a new Limelight. Should be run once from {@link frc.robot.RobotContainer}.
+   * @param name The hostname of the limelight
+   */
+  public Limelight(String name) {
+    this.name = name;
+    tvSubscriber = NetworkTableInstance.getDefault().getDoubleTopic(fmtPath("tv")).subscribe(0.0);
+    txSubscriber = NetworkTableInstance.getDefault().getDoubleTopic(fmtPath("tx")).subscribe(0.0);
+    tySubscriber = NetworkTableInstance.getDefault().getDoubleTopic(fmtPath("ty")).subscribe(0.0);
+    taSubscriber = NetworkTableInstance.getDefault().getDoubleTopic(fmtPath("ta")).subscribe(0.0);
     /* In theory this won't break. It got mad when I tried to insert the array into the
      * method like .subscribe({0.0, 0.0, 0.0, 0.0, 0.0, 0.0}) so ¯\_(ツ)_/¯
      */
     double[] defaultBotpos = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
     botposSubscriber =
         NetworkTableInstance.getDefault()
-            .getDoubleArrayTopic("/limelight-back/botpose")
+            .getDoubleArrayTopic(fmtPath("botpose"))
             .subscribe(defaultBotpos);
   }