Merge branch 'vision-april-lime' into odometry

simgui.json

@@ -3,5 +3,58 @@
     "types": {
       "/FMSInfo": "FMSInfo"
     }
+  },
+  "NetworkTables": {
+    "retained": {
+      "apriltag": {
+        "open": true
+      }
+    },
+    "transitory": {
+      "LiveWindow": {
+        ".status": {
+          "open": true
+        }
+      },
+      "Shuffleboard": {
+        ".recording": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "Clients": {
+      "open": true
+    },
+    "NT3@192.168.1.132:40708": {
+      "Publishers": {
+        "open": true
+      },
+      "Subscribers": {
+        "open": true
+      },
+      "open": true
+    },
+    "NT3@192.168.1.132:49546": {
+      "Publishers": {
+        "open": true
+      },
+      "Subscribers": {
+        "open": true
+      },
+      "open": true
+    },
+    "NT3@192.168.1.132:52724": {
+      "Publishers": {
+        "open": true
+      },
+      "Subscribers": {
+        "open": true
+      },
+      "open": true
+    },
+    "visible": true
   }
 }

src/main/java/frc4388/robot/Robot.java

@@ -7,6 +7,11 @@
 
 package frc4388.robot;
 
+
+import frc4388.robot.subsystems.Vision;
+
+import java.util.Arrays;
+
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -24,7 +29,7 @@ public class Robot extends TimedRobot {
   
   private RobotTime m_robotTime = RobotTime.getInstance();
   private RobotContainer m_robotContainer;
-
+  private Vision Vision = new Vision();
 
   /**
    * This function is run when the robot is first started up and should be
@@ -35,6 +40,7 @@ public class Robot extends TimedRobot {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
+
   }
 
   /**
@@ -53,6 +59,7 @@ public class Robot extends TimedRobot {
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
+    System.out.println(Arrays.toString(Vision.getAprilTags()));
   }
 
   /**

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

@@ -0,0 +1,39 @@
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class Vision {
+    private final NetworkTableEntry m_isTags;
+    private final NetworkTableEntry m_xPoses;
+    private final NetworkTableEntry m_yPoses;
+    private final NetworkTableEntry m_zPoses;
+
+    public Vision() {
+        final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
+
+        m_isTags = tagTable.getEntry("IsTag");
+        m_xPoses = tagTable.getEntry("TagPosX");
+        m_yPoses = tagTable.getEntry("TagPosY");
+        m_zPoses = tagTable.getEntry("TagPosZ");
+    }
+
+    public AprilTag[] getAprilTags() {
+        if (!m_isTags.getBoolean(false)) return new AprilTag[0];
+
+        double xarr[] = m_xPoses.getDoubleArray(new double[] {});
+        double yarr[] = m_yPoses.getDoubleArray(new double[] {});
+        double zarr[] = m_zPoses.getDoubleArray(new double[] {});
+
+        AprilTag tags[] = new AprilTag[xarr.length];
+        for (int i = 0; i < tags.length; i++) {
+            tags[i] = new AprilTag(0, new Pose3d(xarr[i], yarr[i], zarr[i], new Rotation3d()));
+        }
+
+        return tags;
+    }
+}