Package frc.robot.vision

Class Vision

java.lang.Object

frc.robot.vision.Vision

All Implemented Interfaces:

edu.wpi.first.networktables.NTSendable, edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class Vision
extends Object
implements edu.wpi.first.networktables.NTSendable, edu.wpi.first.wpilibj2.command.Subsystem

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Vision.VisionConfig

Field Summary

Fields

Modifier and Type	Field	Description
final Limelight[]	allLimelights
final Limelight	backLL
final Limelight	frontLL	Limelights

Constructor Summary

Constructors

Constructor	Description
Vision(Vision.VisionConfig config)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	blinkLimelights()	Set all Limelights to blink
edu.wpi.first.math.geometry.Pose2d	getBackMegaTag2Pose()
Limelight	getBestLimelight()	Choose the limelight with the best view of multiple tags
int	getClosestTagID()
Limelight	getFrontLL()	Limelights
edu.wpi.first.math.geometry.Pose2d	getFrontMegaTag2Pose()
String	getName()
edu.wpi.first.math.geometry.Pose2d	getReefOffsetFromTag()
static edu.wpi.first.apriltag.AprilTagFieldLayout	getTagLayout()
double	getTagTA()
double	getTagTX()
boolean	hasAccuratePose()	If at least one LL has an accurate pose
void	initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
boolean	isAiming()
boolean	isIntegrating()
boolean	isRearTagClosest()
void	periodic()
void	resetPoseToVision()	reset pose to the best limelight's vision pose
boolean	resetPoseToVision(boolean targetInView, edu.wpi.first.math.geometry.Pose3d botpose3D, edu.wpi.first.math.geometry.Pose2d megaPose, double poseTimestamp)	Set robot pose to vision pose only if LL has good tag reading
Vision	setIntegrating(boolean isIntegrating)
void	setLimelightPipelines(int pipeline)	Change all LL pipelines to the same pipeline
edu.wpi.first.wpilibj2.command.Command	solidLimelight()	Only blinks left limelight
boolean	tagsInView()
void	telemetryInit()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.networktables.NTSendable

initSendable

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

frontLL

public final Limelight frontLL

Limelights

backLL

public final Limelight backLL

allLimelights

public final Limelight[] allLimelights

Constructor Details

Vision

public Vision(Vision.VisionConfig config)

Method Details

getName

public String getName()

Specified by:

getName in interface edu.wpi.first.wpilibj2.command.Subsystem

telemetryInit

public void telemetryInit()

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

getFrontMegaTag2Pose

public edu.wpi.first.math.geometry.Pose2d getFrontMegaTag2Pose()

getBackMegaTag2Pose

public edu.wpi.first.math.geometry.Pose2d getBackMegaTag2Pose()

initSendable

public void initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)

Specified by:

initSendable in interface edu.wpi.first.networktables.NTSendable

getBestLimelight

public Limelight getBestLimelight()

Choose the limelight with the best view of multiple tags

Returns:

resetPoseToVision

public void resetPoseToVision()

reset pose to the best limelight's vision pose

resetPoseToVision

public boolean resetPoseToVision(boolean targetInView,
 edu.wpi.first.math.geometry.Pose3d botpose3D,
 edu.wpi.first.math.geometry.Pose2d megaPose,
 double poseTimestamp)

Set robot pose to vision pose only if LL has good tag reading

Returns:

if the pose was accepted and integrated

hasAccuratePose

public boolean hasAccuratePose()

If at least one LL has an accurate pose

Returns:

setLimelightPipelines

public void setLimelightPipelines(int pipeline)

Change all LL pipelines to the same pipeline

getClosestTagID

public int getClosestTagID()

isRearTagClosest

public boolean isRearTagClosest()

tagsInView

public boolean tagsInView()

getTagTA

public double getTagTA()

getTagTX

public double getTagTX()

getReefOffsetFromTag

public edu.wpi.first.math.geometry.Pose2d getReefOffsetFromTag()

blinkLimelights

public edu.wpi.first.wpilibj2.command.Command blinkLimelights()

Set all Limelights to blink

solidLimelight

public edu.wpi.first.wpilibj2.command.Command solidLimelight()

Only blinks left limelight

getFrontLL

public Limelight getFrontLL()

Limelights

isIntegrating

public boolean isIntegrating()

setIntegrating

public Vision setIntegrating(boolean isIntegrating)

Returns:

this.

isAiming

public boolean isAiming()

getTagLayout

public static edu.wpi.first.apriltag.AprilTagFieldLayout getTagLayout()