From 7745258a68b6045310aa024a2da0e817ce372421 Mon Sep 17 00:00:00 2001 From: iefomit Date: Mon, 26 Jan 2026 17:53:58 -0800 Subject: [PATCH] added camera detection --- .../robot/commands/led_comm/LEDDefaultCommand.java | 2 +- src/main/java/frc/robot/util/Vision/Vision.java | 13 +++++++++++++ 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java b/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java index 8f52e00..4475a80 100644 --- a/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java +++ b/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java @@ -18,7 +18,7 @@ public class LEDDefaultCommand extends Command { public LEDDefaultCommand(LED led, Drivetrain drivetrain, Vision vision) { this.led = led; - // this.outtake = outtake; // TODO: Outtake subsystem not yet implemented + // this.outtake = outtake; this.drivetrain = drivetrain; this.vision = vision; diff --git a/src/main/java/frc/robot/util/Vision/Vision.java b/src/main/java/frc/robot/util/Vision/Vision.java index 08bdab2..c380935 100644 --- a/src/main/java/frc/robot/util/Vision/Vision.java +++ b/src/main/java/frc/robot/util/Vision/Vision.java @@ -396,6 +396,19 @@ public class Vision { onlyUse = ids; } + /** + * Checks if one or more cameras are disconnected + * @return true if at least one camera is disconnected, false otherwise + */ + public boolean oneCameraDisconnected(){ + for(VisionCamera camera : cameras){ + if(!camera.inputs.connected){ + return true; + } + } + return false; + } + /** * Checks if a pose is on the field * @param pose The pose to check -- 2.39.5