Package frc.robot.vision

Class Vision

java.lang.Object

frc.robot.vision.Vision

All Implemented Interfaces:

edu.wpi.first.networktables.NTSendable, edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class Vision
extends Object
implements edu.wpi.first.networktables.NTSendable, edu.wpi.first.wpilibj2.command.Subsystem

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Vision.VisionConfig
class	Vision.VisionFieldPoseEstimate

Field Summary

Fields

Modifier and Type	Field	Description
final Limelight[]	allLimelights
final Limelight	backLL
final Limelight	frontLL
final Limelight	leftLL
final Limelight	rightLL
final Limelight[]	swerveLimelights
final Limelight	turretLL

Constructor Summary

Constructors

Constructor	Description
Vision(Vision.VisionConfig config)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	blinkLimelights()	Set all Limelights to blink
Limelight	getBackLL()
edu.wpi.first.math.geometry.Pose2d	getBackMegaTag2Pose()
Limelight	getBestLimelight()	Choose the limelight with the best view of multiple tags
Limelight	getFrontLL()
edu.wpi.first.math.geometry.Pose2d	getFrontMegaTag2Pose()
Limelight	getLeftLL()
edu.wpi.first.math.geometry.Pose2d	getLeftMegaTag2Pose()
String	getName()
Limelight	getRightLL()
edu.wpi.first.math.geometry.Pose2d	getRightMegaTag2Pose()
static edu.wpi.first.apriltag.AprilTagFieldLayout	getTagLayout()
Limelight	getTurretLL()
edu.wpi.first.math.geometry.Pose2d	getTurretMegaTag1Pose()
edu.wpi.first.math.geometry.Pose2d	getTurretMegaTag2Pose()
DoubleSupplier	getTurretRotationSupplier()
boolean	hasAccuratePose()	If at least one LL has an accurate pose
void	initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
boolean	isTurretSeeingTag()
void	periodic()
void	resetPoseToVision()	reset pose to the best limelight's vision pose
boolean	resetPoseToVision(boolean targetInView, edu.wpi.first.math.geometry.Pose3d botpose3D, edu.wpi.first.math.geometry.Pose2d megaPose, double poseTimestamp)	Set robot pose to vision pose only if LL has good tag reading
void	setLimelightPipelines(int pipeline)	Change all LL pipelines to the same pipeline
edu.wpi.first.wpilibj2.command.Command	solidLimelight()	Only blinks left limelight
boolean	tagsInView()
void	telemetryInit()

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.networktables.NTSendable

initSendable

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

frontLL

public final Limelight frontLL

backLL

public final Limelight backLL

leftLL

public final Limelight leftLL

rightLL

public final Limelight rightLL

turretLL

public final Limelight turretLL

allLimelights

public final Limelight[] allLimelights

swerveLimelights

public final Limelight[] swerveLimelights

Constructor Details

Vision

public Vision(Vision.VisionConfig config)

Method Details

getName

public String getName()

Specified by:

getName in interface edu.wpi.first.wpilibj2.command.Subsystem

telemetryInit

public void telemetryInit()

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

getFrontMegaTag2Pose

public edu.wpi.first.math.geometry.Pose2d getFrontMegaTag2Pose()

getBackMegaTag2Pose

public edu.wpi.first.math.geometry.Pose2d getBackMegaTag2Pose()

getLeftMegaTag2Pose

public edu.wpi.first.math.geometry.Pose2d getLeftMegaTag2Pose()

getRightMegaTag2Pose

public edu.wpi.first.math.geometry.Pose2d getRightMegaTag2Pose()

getTurretMegaTag2Pose

public edu.wpi.first.math.geometry.Pose2d getTurretMegaTag2Pose()

getTurretMegaTag1Pose

public edu.wpi.first.math.geometry.Pose2d getTurretMegaTag1Pose()

initSendable

public void initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)

Specified by:

initSendable in interface edu.wpi.first.networktables.NTSendable

getBestLimelight

public Limelight getBestLimelight()

Choose the limelight with the best view of multiple tags

Returns:

the best limelight

resetPoseToVision

public void resetPoseToVision()

reset pose to the best limelight's vision pose

resetPoseToVision

public boolean resetPoseToVision(boolean targetInView,
 edu.wpi.first.math.geometry.Pose3d botpose3D,
 edu.wpi.first.math.geometry.Pose2d megaPose,
 double poseTimestamp)

Set robot pose to vision pose only if LL has good tag reading

Returns:

if the pose was accepted and integrated

hasAccuratePose

public boolean hasAccuratePose()

If at least one LL has an accurate pose

Returns:

true if at least one LL has an accurate pose

setLimelightPipelines

public void setLimelightPipelines(int pipeline)

Change all LL pipelines to the same pipeline

isTurretSeeingTag

public boolean isTurretSeeingTag()

tagsInView

public boolean tagsInView()

blinkLimelights

public edu.wpi.first.wpilibj2.command.Command blinkLimelights()

Set all Limelights to blink

solidLimelight

public edu.wpi.first.wpilibj2.command.Command solidLimelight()

Only blinks left limelight

getFrontLL

public Limelight getFrontLL()

getBackLL

public Limelight getBackLL()

getLeftLL

public Limelight getLeftLL()

getRightLL

public Limelight getRightLL()

getTurretLL

public Limelight getTurretLL()

getTurretRotationSupplier

public DoubleSupplier getTurretRotationSupplier()

getTagLayout

public static edu.wpi.first.apriltag.AprilTagFieldLayout getTagLayout()