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added limeplotter #3

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added limeplotter #3

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Empty file modified gradlew
100644 → 100755
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12 changes: 12 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
Expand All @@ -27,13 +28,16 @@
*/
public class Robot extends TimedRobot {
NetworkTableInstance chameleon = NetworkTableInstance.create();
NetworkTableInstance limePlotter = NetworkTableInstance.create();
public static SendableChooser<Integer> autoChooser = new SendableChooser<>();
private Command m_autonomousCommand;
private RobotContainer m_robotContainer;
public static NetworkTableEntry angle;
public static NetworkTableInstance inst = NetworkTableInstance.getDefault();
NetworkTable table = chameleon.getTable("chameleon-vision").getSubTable("Microsoft LifeCam HD-3000");
NetworkTable limeTable = limePlotter.getTable("limePlotter");
public static NetworkTableEntry validAngle;
public static NetworkTableEntry estimated_x_position, estimated_y_position;

/**
* This function is run when the robot is first started up and should be used
Expand All @@ -47,6 +51,7 @@ public void robotInit() {
CameraServer server = CameraServer.getInstance();
server.startAutomaticCapture();
chameleon.startClient("10.72.85.12");
limePlotter.startClient("10.72.85.5");
angle = table.getEntry("targetYaw");
validAngle = table.getEntry("isValid");
autoChooser.setDefaultOption("3 Cell Straight", 0);
Expand All @@ -55,6 +60,8 @@ public void robotInit() {
SmartDashboard.putData("Autonomous Selector", autoChooser);
m_robotContainer = new RobotContainer();

estimated_x_position = limePlotter.getEntry("estimated_x_position");
estimated_y_position = limePlotter.getEntry("estimated_y_position");
}

/**
Expand All @@ -78,6 +85,11 @@ public void robotPeriodic() {

CommandScheduler.getInstance().run();
SmartDashboard.putBoolean("Vision Available", isVisionValid());

Translation2d odometryData = m_robotContainer.m_robotDrive.m_odometry.getPoseMeters().getTranslation();

estimated_x_position.setDouble(odometryData.getX());
estimated_y_position.setDouble(odometryData.getY());
}

/**
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