Add Limelight3A support and AprilTag telemetry in MainTeleOp

[JeffreyL-3]

Motivation

• Integrate the Limelight3A vision sensor into the main TeleOp flow so the robot can read AprilTag fiducials on demand.
• Ensure the Limelight polling lifecycle is started on OpMode start and stopped cleanly on OpMode stop.

Description

• Added imports for LLResult, LLResultTypes, and Limelight3A and a private Limelight3A limelight field in MainTeleOp.
• Initialize the Limelight in onStartButtonPressed() with hardwareMap.get(Limelight3A.class, "limelight"), call pipelineSwitch(0), and start().
• Bound gamepad1.a() so on press it calls LLResult result = limelight.getLatestResult(), checks result != null && result.isValid() && !result.getFiducialResults().isEmpty(), and logs the first fiducial's getFiducialId() via telemetry.addData("AprilTag ID", id) followed by telemetry.update().
• On OpMode stop, call limelight.stop() (guarded by a null check) to end Limelight polling.

Testing

• No automated tests were run for this change.
• Modified file: TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MainTeleOp.java.

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Codex Task

[DDbrother9999]

what is going on here 💀

[JeffreyL-3]

it’s cool trust

…

On Sun, Feb 8, 2026 at 9:05 PM DDbrother ***@***.***> wrote: *DDbrother9999* left a comment (Nobles-Robotics/20748-Decode#5) <#5 (comment)> what is going on here 💀 — Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/A43XGLAWM57HXGYLYWSKLOD4K7TPFAVCNFSM6AAAAACUKUYYX6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTQNRYHA4TANZSGE> . You are receiving this because you authored the thread.Message ID: ***@***.***>