Class SimVision.LimelightSimIO

java.lang.Object

frc.robot.subsystems.vision.SimVision.LimelightSimIO

All Implemented Interfaces:

PoseSourceIO

Enclosing class:

SimVision

public static final class SimVision.LimelightSimIO
extends Object
implements PoseSourceIO

A Limelight source backed by a PhotonLib sim camera.

pushedHeading is the heading the robot would have pushed to the camera at a given capture time (the fused heading), used for MegaTag2.

Field Summary

Fields inherited from interface PoseSourceIO

NONE

Constructor Summary

Constructors

Constructor	Description
LimelightSimIO(SimVision.LimelightSimCamera cam, PoseObservation.Kind kind, DoubleFunction<Rotation2d> pushedHeading)

Method Summary

Modifier and Type	Method	Description
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

Constructor Details

LimelightSimIO

public LimelightSimIO(SimVision.LimelightSimCamera cam,
 PoseObservation.Kind kind,
 DoubleFunction<Rotation2d> pushedHeading)

Method Details

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