Class PhotonOrinIO

java.lang.Object
frc.robot.subsystems.vision.PhotonOrinIO
All Implemented Interfaces:
OrinCameraIO
public class PhotonOrinIO extends Object implements OrinCameraIO
One PhotonVision camera on the Jetson Orin, read with PhotonLib alpha-2 (the robot must stay on alpha-2: it is the Jetson's wire format).

Reads only; the pose solve is in OrinSolver, which runs in replay too. Besides the results it reads the Jetson's per-camera topics (SpectrumJetson patches 16, 17, 22-29): health/*, mount/* and settingsJson, all under /photonvision/<camera>/. The Jetson publishes numbers as double or integer depending on the topic, so they are read generically.

  • Constructor Details

    • PhotonOrinIO

      public PhotonOrinIO(String cameraName)
      Parameters:
      cameraName - the camera's name in PhotonVision (the Jetson names them after the USB port: TopLeft, TopRight, BottomLeft, BottomRight)

  • Method Details

    • updateInputs

      public void updateInputs(OrinCameraInputs inputs)
      Description copied from interface: OrinCameraIO
      Fills inputs with everything reported since the last call.
      Specified by:
      updateInputs in interface OrinCameraIO
      Parameters:
      inputs - the inputs to overwrite

    • setPipelineIndex

      public void setPipelineIndex(int index)
      Description copied from interface: OrinCameraIO
      Asks the camera to run a pipeline (issue #10, 11c: 0 = event, 1 = practice field).
      Specified by:
      setPipelineIndex in interface OrinCameraIO
      Parameters:
      index - pipeline index