Package frc.robot.subsystems.vision

Class Vision.VisionConfig

java.lang.Object
frc.robot.subsystems.vision.Vision.VisionConfig
Enclosing class:
Vision
public static class Vision.VisionConfig extends Object
Static configuration for the Vision subsystem, including Limelight identifiers, camera-to-robot transforms, pipeline indices, and pose estimation covariance parameters.

  • Constructor Details

    • VisionConfig

      public VisionConfig()

  • Method Details

    • getName

      public String getName()

    • getBackLL

      public String getBackLL()
      NetworkTables hostname for the rear-facing Limelight.

    • getBackConfig

      public Limelight.LimelightConfig getBackConfig()
      Robot-relative pose of the rear Limelight. Translation in metres (x, y, z); rotation in degrees (roll, pitch, yaw).

    • getLeftLL

      public String getLeftLL()
      NetworkTables hostname for the left-facing Limelight.

    • getLeftConfig

      public Limelight.LimelightConfig getLeftConfig()
      Robot-relative pose of the left Limelight. Translation in metres (x, y, z); rotation in degrees (roll, pitch, yaw).

    • getRightLL

      public String getRightLL()
      NetworkTables hostname for the right-facing Limelight.

    • getRightConfig

      public Limelight.LimelightConfig getRightConfig()
      Robot-relative pose of the right Limelight. Translation in metres (x, y, z); rotation in degrees (roll, pitch, yaw).

    • getRobotToTurretCenter

      public Translation2d getRobotToTurretCenter()
      Robot-centre to turret pivot offset (metres).

    • getTurretCenterToCamera

      public Translation2d getTurretCenterToCamera()
      Turret pivot to camera offset (metres).

    • getBackTagPipeline

      public int getBackTagPipeline()

    • getLeftTagPipeline

      public int getLeftTagPipeline()

    • getRightTagPipeline

      public int getRightTagPipeline()

    • getVisionStdDevX

      public double getVisionStdDevX()
      Default translational standard deviation for vision pose measurements (metres). Lower values trust vision more; higher values trust odometry more.

    • getVisionStdDevY

      public double getVisionStdDevY()
      See Also:
      • visionStdDevX

    • getVisionStdDevTheta

      public double getVisionStdDevTheta()
      Default rotational standard deviation for vision pose measurements (radians). Only used for MT1; MT2 heading is always discarded (kLargeVariance).

    • getKLargeVariance

      public double getKLargeVariance()
      Variance used to effectively ignore a measurement dimension (e.g., heading from MT2 or single-tag MT1).

    • getKMaxTimeDeltaSeconds

      public double getKMaxTimeDeltaSeconds()
      Measurements older than this many seconds are not fused.

    • getVisionStdMatrix

      public Matrix<N3,N1> getVisionStdMatrix()
      Pre-built std-dev matrix using the default X/Y/theta values.