Properly handle obscured vision

src/main/java/frc4388/robot/commands/DriveCommands/RotateUntilTarget.java

@@ -9,7 +9,6 @@ import javax.swing.plaf.basic.BasicTreeUI.TreeCancelEditingAction;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.robot.subsystems.VisionOdometry;
-import frc4388.utility.VisionObscuredException;
 
 public class RotateUntilTarget extends CommandBase {
 
@@ -50,10 +49,7 @@ public class RotateUntilTarget extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-
+    return this.visionOdometry.getTargetPoints() == null;
-    try { this.visionOdometry.getTargetPoints(); } catch (VisionObscuredException voe) { return false; }
-
-    return true;
     // return this.visionOdometry.m_camera.getLatestResult().hasTargets();
   }
 }

src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java

@@ -6,6 +6,7 @@ package frc4388.robot.commands.ShooterCommands;
 
 import java.util.ArrayList;
 import java.util.HashMap;
+import java.util.logging.Logger;
 import java.util.stream.Collector;
 import java.util.stream.Collectors;
 
@@ -28,6 +29,7 @@ import frc4388.utility.Vector2D;
 import frc4388.utility.desmos.DesmosServer;
 
 public class TrackTarget extends CommandBase {
+  private static final Logger LOGGER = Logger.getLogger(TrackTarget.class.getSimpleName());
   /** Creates a new TrackTarget. */
   SwerveDrive m_swerve;
   Turret m_turret;
@@ -88,51 +90,50 @@ public class TrackTarget extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {    
-    try {
+    points = m_visionOdometry.getTargetPoints();
-      points = m_visionOdometry.getTargetPoints();
+    if (points.isEmpty()) {
-      // points = getFakePoints();
+      LOGGER.severe("Vision Obscured");
-      //// points = filterPoints(points);
+      return;
-      Point average = VisionOdometry.averagePoint(points);
-      
-      double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
-      output *= 2.1;
-      
-      m_turret.runTurretWithInput(output);
-      // double position = m_turret.m_boomBoomRotateEncoder.getPosition();
-
-      // if(Math.abs(position - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT) < 5 ||
-      //       Math.abs(position - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT) < 5)
-      //   m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), output, true);
-      // else
-      //   m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(),
-      //                           RobotContainer.getDriverController().getRightX(), RobotContainer.getDriverController().getRightY(),
-      //                           true);
-
-      
-      double regressedDistance = getDistance(average.y);
-      
-      // ! no longer a +30 lol -aarav
-      double distAdj = SmartDashboard.getNumber("Distance Adjust", -35);
-      velocity = m_boomBoom.getVelocity(regressedDistance + distAdj);
-      hoodPosition = m_boomBoom.getHood(regressedDistance + distAdj);
-      
-      m_boomBoom.runDrumShooterVelocityPID(velocity);
-      m_hood.runAngleAdjustPID(hoodPosition);
-      
-      double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity();
-      double currentHood = this.m_hood.getEncoderPosition();
-  
-      targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance) && (output < 0.2);
-
-
-      SmartDashboard.putNumber("Distance", regressedDistance - 35);
-      SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition);
-      SmartDashboard.putNumber("Vel Target Track", velocity);
-      SmartDashboard.putBoolean("Target Locked", targetLocked);
-    } catch (Exception e){
-      e.printStackTrace();
     }
+    // points = getFakePoints();
+    //// points = filterPoints(points);
+    Point average = VisionOdometry.averagePoint(points);
     
+    double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
+    output *= 2.1;
+    
+    m_turret.runTurretWithInput(output);
+    // double position = m_turret.m_boomBoomRotateEncoder.getPosition();
+
+    // if(Math.abs(position - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT) < 5 ||
+    //       Math.abs(position - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT) < 5)
+    //   m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), output, true);
+    // else
+    //   m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(),
+    //                           RobotContainer.getDriverController().getRightX(), RobotContainer.getDriverController().getRightY(),
+    //                           true);
+
+    
+    double regressedDistance = getDistance(average.y);
+    
+    // ! no longer a +30 lol -aarav
+    double distAdj = SmartDashboard.getNumber("Distance Adjust", -35);
+    velocity = m_boomBoom.getVelocity(regressedDistance + distAdj);
+    hoodPosition = m_boomBoom.getHood(regressedDistance + distAdj);
+    
+    m_boomBoom.runDrumShooterVelocityPID(velocity);
+    m_hood.runAngleAdjustPID(hoodPosition);
+    
+    double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity();
+    double currentHood = this.m_hood.getEncoderPosition();
+
+    targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance) && (output < 0.2);
+
+
+    SmartDashboard.putNumber("Distance", regressedDistance - 35);
+    SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition);
+    SmartDashboard.putNumber("Vel Target Track", velocity);
+    SmartDashboard.putBoolean("Target Locked", targetLocked);    
   }
 
   public ArrayList<Point> filterPoints(ArrayList<Point> points) {

src/main/java/frc4388/robot/subsystems/VisionOdometry.java

@@ -24,7 +24,6 @@ import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.VisionConstants;
-import frc4388.utility.VisionObscuredException;
 
 /** Represents the limelight and odometry related functionality
  * @author Daniel McGrath
@@ -61,16 +60,15 @@ public class VisionOdometry extends SubsystemBase {
    * @return Vision points on the rim of the target in screen space
    * @throws VisionObscuredException
    */
-  public ArrayList<Point> getTargetPoints() throws VisionObscuredException {
+  public ArrayList<Point> getTargetPoints() {
     PhotonPipelineResult result = m_camera.getLatestResult();
     latency = result.getLatencyMillis();
 
     System.out.println("Result: " + result.hasTargets() + ", latency: " + latency);
 
-    if(!result.hasTargets())
-      throw new VisionObscuredException();
-    
     ArrayList<Point> points = new ArrayList<>();
+    if(!result.hasTargets())
+      return points;
 
     for(PhotonTrackedTarget target : result.getTargets()) {
       List<TargetCorner> corners = target.getCorners();
@@ -102,11 +100,11 @@ public class VisionOdometry extends SubsystemBase {
     m_camera.setDriverMode(driverMode);
   }
 
-  public Point getTargetOffset() throws VisionObscuredException {
+  public Point getTargetOffset() {
     ArrayList<Point> screenPoints = getTargetPoints();
 
     if(screenPoints.size() < 3)
-      throw new VisionObscuredException("Less than 3 vision points available");
+      return null;
 
     ArrayList<Point3> points3d = get3dPoints(screenPoints);
     ArrayList<Point> points = topView(points3d);
@@ -125,8 +123,10 @@ public class VisionOdometry extends SubsystemBase {
    * @return The estimated odometry pose, including gyro rotation
    * @throws VisionObscuredException
    */
-  public Pose2d getVisionOdometry() throws VisionObscuredException {
+  public Pose2d getVisionOdometry() {
     Point targetOffset = getTargetOffset();
+    if (targetOffset == null)
+      return null;
 
     targetOffset = correctGuessForCenter(targetOffset, m_shooter.getBoomBoomAngleDegrees());
     targetOffset = correctGuessForGyro(targetOffset, m_drive.getRegGyro().getDegrees());

src/main/java/frc4388/utility/VisionObscuredException.java

@@ -1,38 +0,0 @@
-package frc4388.utility;
-
-/** Exception that occurs if the limelight can't see enough points
- * @author Daniel Thomas McGrath
- */
-public class VisionObscuredException extends Exception {
-    /**
-     * Creates new VisionObscuredException with error text 'null'
-     */
-    public VisionObscuredException() {
-        super("Unable to see sufficient vision points");
-    }
-
-    /** Creates new VisionObscuredException with error text message
-     * 
-     * @param message Error text message
-     */
-    public VisionObscuredException(String message) {
-        super(message);
-    }
-
-    /** Creates new VisionObscuredException with error text message and detailed stack trace
-     * 
-     * @param message Error text message
-     * @param cause Root cause of error
-     */
-    public VisionObscuredException(String message, Throwable cause) {
-        super(message, cause);
-    }
-
-    /** Creates new VisionObscuredException with error text 'null' and detailed stack trace
-     * 
-     * @param cause Root cause of error
-     */
-    public VisionObscuredException(Throwable cause) {
-        super("Unable to see sufficient vision points", cause);
-    }
-}