Team4388/2024AcrossTheRidgebotiverse
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C4llSqin
2024-02-03 12:31:46 -07:00
parent 19b5d75272
commit 0926d77d06
2 changed files with 18 additions and 7 deletions
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src/main/java/frc4388/robot/Constants.java
+14 -5
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@@ -127,16 +127,25 @@ public final class Constants {
public static final double H_FOV = 59.6;
public static final double V_FOV = 45.7;
public static final double LIME_HEIGHT = 6.0;
public static final double LIME_ANGLE = 55.0;
// public static final double LIME_HEIGHT = 6.0;
// public static final double LIME_ANGLE = 55.0;
// public static final double HIGH_TARGET_HEIGHT = 46.0;
public static final double HIGH_TAPE_HEIGHT = 44.0;
//public static final double HIGH_TAPE_HEIGHT = 44.0;
// public static final double MID_TARGET_HEIGHT = 34.0;
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[] LIME_POS = {
13.0, // X Pos offset.
0.0, // Y Pos offset.
14.0, // Z Pos offset.
0.0, // X Rot offset.
0.0, // Y Rot offset.
0.0 // Z Rot offset.
};
//public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value
}
src/main/java/frc4388/robot/subsystems/Vision.java
+4 -2
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@@ -5,17 +5,19 @@ import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import frc4388.robot.Constants.VisionConstants;
public class Vision {
// camerapose_robotspace_set "3D transform of the camera in the coordinate system of the robot (array (6))"
private final NetworkTableEntry nt_ll_tx;
private final NetworkTableEntry nt_ll_ty;
private final NetworkTableEntry nt_ll_ta;
private final NetworkTableEntry nt_ll_ts;
public Vision() {
final var tagTable = NetworkTableInstance.getDefault().getTable("limelight`");
final var tagTable = NetworkTableInstance.getDefault().getTable("limelight");
nt_ll_tx = tagTable.getEntry("tx"); //TODO
nt_ll_tx = tagTable.getEntry("camerapose_robotspace_set").setDoubleArray(VisionConstants); //TODO
nt_ll_ty = tagTable.getEntry("ty"); //TODO
nt_ll_ta = tagTable.getEntry("ta"); //TODO
nt_ll_ts = tagTable.getEntry("ts"); //TODO