Class CameraParams

java.lang.Object
frc.robot.subsystems.vision.CameraParams
public final class CameraParams extends Object
Camera housekeeping, from params/cameras.json. None of these gate a pose.

  • Field Details

    • AUTO_REWIND_SECONDS

      public static final DoubleParam AUTO_REWIND_SECONDS
      Limelight rewind saved at the end of auto: auto's 20 s plus a few seconds either side.

    • TELEOP_REWIND_SECONDS

      public static final DoubleParam TELEOP_REWIND_SECONDS
      Limelight rewind saved at the end of teleop: the most a Limelight keeps. Teleop's 140 s plus the gap after auto, so it also reaches back into the end of auto.

    • QUEST_LOW_BATTERY_PERCENT

      public static final DoubleParam QUEST_LOW_BATTERY_PERCENT
      Quest battery below this percentage raises an alert (1425 uses 20).

    • SETTINGS_RESEND_PERIOD_SECONDS

      public static final DoubleParam SETTINGS_RESEND_PERIOD_SECONDS
      How often the settings the robot owns (IMU mode, and the mount poses when PUSH_LIMELIGHT_MOUNTS is on) are re-sent. A Limelight that boots after the robot, or reboots mid-match, comes back in IMU mode 0 and on whatever mount was last saved to it; in mode 0 its MegaTag2 poses are garbage, and FM fuses MegaTag2 once the seed is confirmed. Offseason 71dc7a7. The floor keeps a typo from flooding NT every loop.

    • PUSH_LIMELIGHT_MOUNTS

      public static final BooleanParam PUSH_LIMELIGHT_MOUNTS
      Whether to push the configured mounts to the Limelights, so a reflashed or swapped camera still gets the right mount.