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Updated vision code for 2022

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This commit is contained in:
aarav18
2022-03-05 11:29:40 -07:00
parent 71e082e7bd
commit 46bda7913f
8 changed files with 403 additions and 15 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -2
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@@ -64,6 +64,7 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.VisionOdometry;
import frc4388.utility.LEDPatterns;
import frc4388.utility.ListeningSendableChooser;
import frc4388.utility.PathPlannerUtil;
@@ -88,8 +89,10 @@ public class RobotContainer {
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood();
// private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
// private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -119,7 +122,7 @@ public class RobotContainer {
//Turret default command
// m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive));
m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(