Package frc.robot.vision

Class Vision

java.lang.Object

frc.robot.vision.Vision

All Implemented Interfaces:

Subsystem

public class Vision
extends Object
implements 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	leftLL
final Limelight	rightLL

Constructor Summary

Constructors

Constructor	Description
Vision(Vision.VisionConfig config)

Method Summary

Modifier and Type	Method	Description
Command	blinkLimelights()	Set all Limelights to blink
Limelight	getBackLL()
Pose2d	getBackMegaTag1Pose()
Limelight	getBestLimelight()	Choose the limelight with the best view of multiple tags
Limelight	getLeftLL()
Pose2d	getLeftMegaTag1Pose()
String	getName()
Limelight	getRightLL()
Pose2d	getRightMegaTag1Pose()
static AprilTagFieldLayout	getTagLayout()
boolean	hasAccuratePose()	If at least one LL has an accurate pose
void	logTelemetry()
void	periodic()
void	resetPoseToVision()	reset pose to the best limelight's vision pose
boolean	resetPoseToVision(boolean targetInView, Pose3d botpose3D, 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
Command	solidLimelight()	Only blinks left limelight
boolean	tagsInView()
void	triggerRewindCaptureForAllCameras()

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.wpilibj2.command.Subsystem

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

Field Details

backLL

public final Limelight backLL

leftLL

public final Limelight leftLL

rightLL

public final Limelight rightLL

allLimelights

public final Limelight[] allLimelights

Constructor Details

Vision

public Vision(Vision.VisionConfig config)

Method Details

getName

public String getName()

Specified by:

getName in interface Subsystem

periodic

public void periodic()

Specified by:

periodic in interface Subsystem

logTelemetry

public void logTelemetry()

triggerRewindCaptureForAllCameras

public void triggerRewindCaptureForAllCameras()

getBackMegaTag1Pose

public Pose2d getBackMegaTag1Pose()

getLeftMegaTag1Pose

public Pose2d getLeftMegaTag1Pose()

getRightMegaTag1Pose

public Pose2d getRightMegaTag1Pose()

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,
 Pose3d botpose3D,
 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

tagsInView

public boolean tagsInView()

blinkLimelights

public Command blinkLimelights()

Set all Limelights to blink

solidLimelight

public Command solidLimelight()

Only blinks left limelight

getBackLL

public Limelight getBackLL()

getLeftLL

public Limelight getLeftLL()

getRightLL

public Limelight getRightLL()

getTagLayout

public static AprilTagFieldLayout getTagLayout()