Class QuestNavIO

java.lang.Object

frc.robot.subsystems.vision.QuestNavIO

All Implemented Interfaces:

QuestNavControl, PoseSourceIO

public class QuestNavIO
extends Object
implements PoseSourceIO, QuestNavControl

Meta Quest running QuestNav, over NetworkTables table QuestNav.

QuestNav reports the headset's pose in a field frame that the robot sets by sending a pose-reset command (resetPose(Pose2d)). This IO converts it to a robot pose with the inverse of robotToQuest, and records the time and count of resets so the QuestNav gates (see Vision) can reject frames from before the first reset or just after one.

Frame timestamps are the NetworkTables server time at which the frame arrived, as QuestNavLib uses; the Quest app's own clock is kept in PoseSourceInputs.health for latency analysis.

Health values: [appTimestamp, frameCount, batteryPercent, trackingLostCounter, resetCount, lastResetTime].

Field Summary

Fields

Modifier and Type	Field	Description
static final int	H_APP_TIMESTAMP	Indices into PoseSourceInputs.health.
static final int	H_BATTERY	Indices into PoseSourceInputs.health.
static final int	H_FRAME_COUNT	Indices into PoseSourceInputs.health.
static final int	H_LAST_RESET_TIME	Indices into PoseSourceInputs.health.
static final int	H_RESET_COUNT	Indices into PoseSourceInputs.health.
static final int	H_TRACKING_LOST	Indices into PoseSourceInputs.health.

Fields inherited from interface PoseSourceIO

NONE

Fields inherited from interface QuestNavControl

NONE

Constructor Summary

Constructors

Constructor	Description
QuestNavIO(Transform3d robotToQuest)

Method Summary

Modifier and Type	Method	Description
void	resetPose(Pose2d robotPose)	Tells the Quest where the robot is, re-origining its field frame.
void	updateInputs(PoseSourceInputs inputs)	Fills inputs with everything reported since the last call.

Methods inherited from class Object

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

Methods inherited from interface PoseSourceIO

derived

Field Details

H_APP_TIMESTAMP

public static final int H_APP_TIMESTAMP

Indices into PoseSourceInputs.health.

See Also:

• Constant Field Values

H_FRAME_COUNT

public static final int H_FRAME_COUNT

Indices into PoseSourceInputs.health.

See Also:

• Constant Field Values

H_BATTERY

public static final int H_BATTERY

Indices into PoseSourceInputs.health.

See Also:

• Constant Field Values

H_TRACKING_LOST

public static final int H_TRACKING_LOST

Indices into PoseSourceInputs.health.

See Also:

• Constant Field Values

H_RESET_COUNT

public static final int H_RESET_COUNT

Indices into PoseSourceInputs.health.

See Also:

• Constant Field Values

H_LAST_RESET_TIME

public static final int H_LAST_RESET_TIME

Indices into PoseSourceInputs.health.

See Also:

• Constant Field Values

Constructor Details

QuestNavIO

public QuestNavIO(Transform3d robotToQuest)

Parameters:

robotToQuest - headset mount, robot frame (x forward, y left, z up)

Method Details

resetPose

public void resetPose(Pose2d robotPose)

Tells the Quest where the robot is, re-origining its field frame.

Specified by:

resetPose in interface QuestNavControl

Parameters:

robotPose - the robot's pose on the field right now

updateInputs

public void updateInputs(PoseSourceInputs inputs)

Description copied from interface: PoseSourceIO

Fills inputs with everything reported since the last call.

Specified by:

updateInputs in interface PoseSourceIO

Parameters:

inputs - the inputs to overwrite