Team4388/2023WayOfTheRobot
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aarav18
2023-03-18 17:23:38 -06:00
parent df0fd2226d
commit 0ac737460a
2 changed files with 19 additions and 3 deletions
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src/main/java/frc4388/robot/Constants.java
+6
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@@ -7,9 +7,14 @@
package frc4388.robot; package frc4388.robot;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import frc4388.utility.Gains; import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns; import frc4388.utility.LEDPatterns;
import frc4388.utility.RobotUnits;
/** /**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -168,5 +173,6 @@ public final class Constants {
public static final double MID_TAPE_HEIGHT = 24.0; public static final double MID_TAPE_HEIGHT = 24.0;
public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value
} }
} }
src/main/java/frc4388/robot/subsystems/Limelight.java
+13 -3
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@@ -4,21 +4,33 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import java.io.IOException;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.List; import java.util.List;
import java.util.Optional;
import org.photonvision.EstimatedRobotPose;
import org.photonvision.PhotonCamera; import org.photonvision.PhotonCamera;
import org.photonvision.PhotonPoseEstimator;
import org.photonvision.PhotonPoseEstimator.PoseStrategy;
import org.photonvision.common.hardware.VisionLEDMode; import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner; import org.photonvision.targeting.TargetCorner;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.VisionConstants; import frc4388.robot.Constants.VisionConstants;
public class Limelight extends SubsystemBase { public class Limelight extends SubsystemBase {
private PhotonCamera cam; private PhotonCamera cam;
private PhotonPoseEstimator photonPoseEstimator;
private boolean lightOn; private boolean lightOn;
@@ -149,7 +161,5 @@ public class Limelight extends SubsystemBase {
} }
@Override @Override
public void periodic() { public void periodic() {}
SmartDashboard.putNumber("April Skew", getAprilSkew());
}
} }