Team4388/2023WayOfTheRobot
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updated limealign and drivetolimedistance

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This commit is contained in:
aarav18
2023-03-16 23:08:08 -06:00
parent 94a092b7b5
commit 5ae5db7847
5 changed files with 50 additions and 66 deletions
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src/main/java/frc4388/robot/subsystems/Limelight.java
+26 -50
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@@ -28,8 +28,6 @@ public class Limelight extends SubsystemBase {
public Limelight() {
cam = new PhotonCamera(VisionConstants.NAME);
cam.setDriverMode(false);
setToLimePipeline();
}
public void setLEDs(boolean on) {
@@ -54,38 +52,9 @@ public class Limelight extends SubsystemBase {
cam.setPipelineIndex(0);
}
public ArrayList<Point> getTargetPoints() {
if (!cam.isConnected()) return null;
public PhotonTrackedTarget getAprilPoint() {
setToAprilPipeline();
PhotonPipelineResult result = cam.getLatestResult();
if (!result.hasTargets()) return null;
ArrayList<Point> points = new ArrayList<>(2);
for(PhotonTrackedTarget target : result.getTargets()) {
List<TargetCorner> corners = target.getDetectedCorners();
double sumX = 0.0;
double sumY = 0.0;
double mx = 0.0;
double my = 0.0;
for (TargetCorner c : corners) {
sumX += c.x;
sumY += c.y;
}
mx = sumX / 4.0;
my = sumY / 4.0;
points.add(new Point(mx, my));
}
return points;
}
public PhotonTrackedTarget getFirstTargetPoint() {
if (!cam.isConnected()) return null;
PhotonPipelineResult result = cam.getLatestResult();
@@ -95,7 +64,20 @@ public class Limelight extends SubsystemBase {
return result.getBestTarget();
}
public PhotonTrackedTarget getLowestTargetPoint() {
public double getDistanceToApril() {
PhotonTrackedTarget aprilPoint = getAprilPoint();
if (aprilPoint == null) return -1;
double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT;
double theta = 35.0 + aprilPoint.getPitch();
double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta));
return distanceToApril;
}
public PhotonTrackedTarget getLowestTape() {
setToLimePipeline();
if (!cam.isConnected()) return null;
PhotonPipelineResult result = cam.getLatestResult();
@@ -114,29 +96,23 @@ public class Limelight extends SubsystemBase {
return lowest;
}
public int numTargets() {
public int getNumTapes() {
setToLimePipeline();
PhotonPipelineResult result = cam.getLatestResult();
return result.getTargets().size();
}
public double getHorizontalDistanceToTarget(boolean high) {
ArrayList<Point> targetPoints = getTargetPoints();
if (targetPoints == null) return -1;
// Point highPoint = targetPoints.get(0).y <= targetPoints.get(1).y ? targetPoints.get(0) : targetPoints.get(1);
// Point midPoint = targetPoints.get(0).y >= targetPoints.get(1).y ? targetPoints.get(0) : targetPoints.get(1);
PhotonTrackedTarget tapePoint = getFirstTargetPoint();//high ? highPoint : midPoint;
double tapeHeight = VisionConstants.MID_TAPE_HEIGHT;//high ? VisionConstants.HIGH_TAPE_HEIGHT : VisionConstants.MID_TAPE_HEIGHT;
public double getDistanceToTape() {
PhotonTrackedTarget tapePoint = getLowestTape();
if (tapePoint == null) return -1;
double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
double theta = 35.0 + tapePoint.getPitch();
double effectiveTapeHeight = tapeHeight - VisionConstants.LIME_HEIGHT;
double horizontalDistanceToTarget = effectiveTapeHeight / Math.tan(Math.toRadians(theta));
return horizontalDistanceToTarget;
double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
return distanceToTape;
}
int ctr = 0;
@@ -146,7 +122,7 @@ public class Limelight extends SubsystemBase {
// This method will be called once per scheduler run
if (ctr % 50 == 0) {
SmartDashboard.putNumber("Horizontal Distance", getHorizontalDistanceToTarget(false));
SmartDashboard.putNumber("Horizontal Distance", getDistanceToTape());
}
ctr++;