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# Drivebase Vision Align Command
## Dependencies
* WPILIB 2020.2.2
* Drivebase
* Differential Drive
## Description
* Guides our drivebase to aim our shooter at the top power port
##…
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**Is your feature request related to a problem? Please describe.**
I have several screens and when I cycle through them sometimes is hard to tell which one has the focus and which window is focused. …
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- [x] Figure out how to work PhotonVision, code, connecting an external camera, identifying objects
- [x] Create the code to identify AprilTags using the razer camera
- [x] Create the code to identi…
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Create Vision program to obtain position via April Tags
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Victors
PWMVictorSPX
Talons
AnalogInput Infrared light sensor
Digital Input Switches
Digital Inputs
Lidar
Compressor
Solenoid
Joysticks
Cameras
Limelight
Driving (Tank, Arcade (both versio…
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* = Needs Checking / Feedback
Commands
- [ ] DefaultArmCommand
- [ ] DriverRelativeAngleDrive
- [x] DriverRelativeDrive
- [x] DriverRelativeSetAngleDrive
- [ ] DriveToTarget
- [x] Grip
- [x]…
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**Thoughts**
- ALICE (Advanced Light Intensity Calculation Engine)
- Daft Renderer
- Creola Renderer (NASA mathematician)
- Telescope Renderer
- Fiber Renderer
- Draft Renderer
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This class should be a subclass of State.
Class will call DragonLimelight during its Run method, so get the Limelights in the constructor.
Run Method
- Determine if there is a vision targets or not
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The Limelight needs to be configured with static IP addresses.
Suggested IP Addresses are from: https://docs.wpilib.org/en/latest/docs/networking/networking-introduction/ip-configurations.html
T…