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Merge pull request #4 from frc3512/vision_jonny
Vision with Auto Aim
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| package frc3512.robot.subsystems; | ||
|
|
||
| import edu.wpi.first.apriltag.AprilTagFieldLayout; | ||
| import edu.wpi.first.apriltag.AprilTagFields; | ||
| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc3512.robot.Constants; | ||
| import java.util.Optional; | ||
| import org.photonvision.EstimatedRobotPose; | ||
| import org.photonvision.PhotonCamera; | ||
| import org.photonvision.PhotonPoseEstimator; | ||
| import org.photonvision.PhotonPoseEstimator.PoseStrategy; | ||
|
|
||
| public class Vision extends SubsystemBase { | ||
| public PhotonCamera photonCamera = new PhotonCamera(Constants.VisionConstants.cameraName); | ||
| public PhotonPoseEstimator photonPoseEstimator; | ||
| public AprilTagFieldLayout atfl; | ||
|
|
||
| public Vision() { | ||
| PhotonCamera.setVersionCheckEnabled(false); | ||
| // photonCamera.setDriverMode(true); | ||
|
|
||
| atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField(); | ||
|
|
||
| // Create pose estimator | ||
| photonPoseEstimator = | ||
| new PhotonPoseEstimator( | ||
| atfl, | ||
| PoseStrategy.LOWEST_AMBIGUITY, | ||
| photonCamera, | ||
| Constants.VisionConstants.robotToCam); | ||
| } | ||
|
|
||
| /** | ||
| * @param estimatedRobotPose The current best guess at robot pose | ||
| * @return A pair of the fused camera observations to a single Pose2d on the field, and the time | ||
| * of the observation. Assumes a planar field and the robot is always firmly on the ground | ||
| */ | ||
| public Optional<EstimatedRobotPose> getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose) { | ||
| photonPoseEstimator.setReferencePose(prevEstimatedRobotPose); | ||
| return photonPoseEstimator.update(); | ||
| } | ||
|
|
||
| public PhotonCamera returnCamera(Vision vision) { | ||
| return vision.photonCamera; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| { | ||
| "fileName": "photonlib.json", | ||
| "name": "photonlib", | ||
| "version": "v2024.2.4", | ||
| "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", | ||
| "frcYear": "2024", | ||
| "mavenUrls": [ | ||
| "https://maven.photonvision.org/repository/internal", | ||
| "https://maven.photonvision.org/repository/snapshots" | ||
| ], | ||
| "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", | ||
| "jniDependencies": [], | ||
| "cppDependencies": [ | ||
| { | ||
| "groupId": "org.photonvision", | ||
| "artifactId": "photonlib-cpp", | ||
| "version": "v2024.2.4", | ||
| "libName": "photonlib", | ||
| "headerClassifier": "headers", | ||
| "sharedLibrary": true, | ||
| "skipInvalidPlatforms": true, | ||
| "binaryPlatforms": [ | ||
| "windowsx86-64", | ||
| "linuxathena", | ||
| "linuxx86-64", | ||
| "osxuniversal" | ||
| ] | ||
| }, | ||
| { | ||
| "groupId": "org.photonvision", | ||
| "artifactId": "photontargeting-cpp", | ||
| "version": "v2024.2.4", | ||
| "libName": "photontargeting", | ||
| "headerClassifier": "headers", | ||
| "sharedLibrary": true, | ||
| "skipInvalidPlatforms": true, | ||
| "binaryPlatforms": [ | ||
| "windowsx86-64", | ||
| "linuxathena", | ||
| "linuxx86-64", | ||
| "osxuniversal" | ||
| ] | ||
| } | ||
| ], | ||
| "javaDependencies": [ | ||
| { | ||
| "groupId": "org.photonvision", | ||
| "artifactId": "photonlib-java", | ||
| "version": "v2024.2.4" | ||
| }, | ||
| { | ||
| "groupId": "org.photonvision", | ||
| "artifactId": "photontargeting-java", | ||
| "version": "v2024.2.4" | ||
| } | ||
| ] | ||
| } |