Vision #10
Vision #10
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…and because it's somewhat shorter.
…from it) and minor doc changes
…ion, made field bounds check a little more tolerant on the Z axis.
…it adapt to any # of cameras), made default stdDevs (if the apriltag is not a known ID) very large so it'll be essentially discarded.
…tantiating the camera on its own.
…eIOSim but VisionSim has been tested with band-aid for ModuleIOSim)
src/main/java/frc/robot/subsystems/apriltagvision/AprilTagVisionIOReal.java
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src/main/java/frc/robot/subsystems/apriltagvision/AprilTagVisionIOReal.java
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… it implemented un both Real and Sim.
…ead check robot mode in the method.
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Tested on real dory. Appears to be functioning well. |
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looks like it is unused in drive, i dont see any reason to keep these additions unless you have another one
It's instantiated in drive and adds vision measurements to the drivetrain's pose estimator if that's what you mean |
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Judging by issues we're having while testing pathing, the camera offsets may be off. |
…ter measuring befor comp
| @@ -54,6 +55,8 @@ public class Drive extends SubsystemBase { | |||
| private final SysIdRoutine moduleSteerRoutine; | |||
| private final SysIdRoutine driveRoutine; | |||
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| private AprilTagVision aprilTagVision = new AprilTagVision(poseEstimator); | |||
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not sure why this exists, seems to serve no purpose?
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I think it serves a purpose in that it instantiates vision. If you're referring to it being instantiated in drive instead of RobotContainer, that's mostly because it requires a drivetrain pose estimator which is instantiated by drive since it requires some suppliers from drive.
I think me and @nolanhergert had a conversation about instantiating it in RobotContainer vs in Drive and Nolan convinced me it would be better to do it in drive. However, neither of us can remember exactly why we made this decision. If preferred, it could be instantiated in RobotContainer (in which case we would instantiate Drive and then give AprilTagVision a reference to Drive's pose estimator).
Adds vision to the robot with real and sim implementations.
Vision real was tested yesterday but has not been tested on the latest version.
Vision sim has been tested and appears to be functional with the modifications to moduleIOSim described in #9, although said modification has not been committed to this branch so sim will currently fail.