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Add disabled param for PhotonCamera (#2484)

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This commit is contained in:
Matt Morley
2026-05-16 07:41:59 -07:00
committed by GitHub
parent 0e834f0851
commit 996ca3649e
14 changed files with 231 additions and 28 deletions
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11
photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
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@@ -57,6 +57,9 @@ public class NTTopicSet {
public IntegerPublisher fpsLimitPublisher;
public IntegerSubscriber fpsLimitSubscriber;
public BooleanPublisher enabledPublisher;
public BooleanSubscriber enabledSubscriber;
public DoublePublisher latencyMillisEntry;
public DoublePublisher fpsEntry;
public BooleanPublisher hasTargetEntry;
@@ -109,6 +112,11 @@ public class NTTopicSet {
fpsLimitSubscriber.getTopic().publish().setDefault(-1);
enabledPublisher = subTable.getBooleanTopic("enabled").publish();
enabledSubscriber = subTable.getBooleanTopic("enabledRequest").subscribe(true);
enabledSubscriber.getTopic().publish().setDefault(true);
latencyMillisEntry = subTable.getDoubleTopic("latencyMillis").publish();
fpsEntry = subTable.getDoubleTopic("fps").publish();
hasTargetEntry = subTable.getBooleanTopic("hasTarget").publish();
@@ -141,6 +149,9 @@ public class NTTopicSet {
if (fpsLimitPublisher != null) fpsLimitPublisher.close();
if (fpsLimitSubscriber != null) fpsLimitSubscriber.close();
if (enabledPublisher != null) enabledPublisher.close();
if (enabledSubscriber != null) enabledSubscriber.close();
if (latencyMillisEntry != null) latencyMillisEntry.close();
if (fpsEntry != null) fpsEntry.close();
if (hasTargetEntry != null) hasTargetEntry.close();