Vision.java Constructor

gistfile1.txt

  private MjpegServer server;
    private HttpCamera LLFeed;
    private UsbCamera cargoCam;
    private int cameraStream = 0;

    private Vision() {
        ShuffleboardTab dashboardTab = Shuffleboard.getTab("Dash");
        LLFeed = new HttpCamera("limelight", "http://limelight.local:5800/stream.mjpg");
        cargoCam = CameraServer.getInstance().startAutomaticCapture(0);
        cargoCam.setConnectVerbose(0);
        server = CameraServer.getInstance().addSwitchedCamera("Toggle Cam");
        server.setSource(LLFeed);
        dashboardTab.add(server.getSource()).withWidget(BuiltInWidgets.kCameraStream).withPosition(1, 1).withSize(5, 4)
            .withProperties(Map.of("Show Crosshair", true, "Show Controls", false));// specify widget properties here
        Shuffleboard.selectTab("Dash");
        ShuffleboardTab mVisionTab = Shuffleboard.getTab("Vision");
        mLLX = mVisionTab.add("Limelight X", 0.0).getEntry();
        mDist = mVisionTab.add("Limelight Dist", 0.0).getEntry();
        mArea = mVisionTab.add("Area", 0.0).getEntry();
        mLimeLight = new LimeLight();
        configLimelightVision();
        mPixy = new MkPixy();
    }