Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-08 16:28:04 -06:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch '2024x2025' of https://github.com/Team4388/2025RidgeScape into 2024x2025

Browse Source
This commit is contained in:
C4llSiqn
2025-01-17 20:39:28 -07:00
parent a8c91b3ce1 d702d30e0a
commit 383e88a3f8
2 changed files with 37 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+2
View File
@@ -331,7 +331,9 @@ public final class Constants {
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(-.3048, 0.2413*0, .2794), new Rotation3d(0,0.52333,Math.PI));
public static final double MIN_ESTIMATION_DISTANCE = 1; // Meters
// Photonvision thing
// The standard deviations of our vision estimated poses, which affect correction rate
// (Fake values. Experiment and determine estimation noise on an actual robot.)
public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(4, 4, 8);
src/main/java/frc4388/robot/subsystems/Vision.java
+35 -35
View File
@@ -20,6 +20,7 @@ import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.SimCameraProperties;
import org.photonvision.simulation.VisionSystemSim;
import org.photonvision.targeting.MultiTargetPNPResult;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import com.ctre.phoenix6.Utils;
@@ -80,26 +81,14 @@ public class Vision extends Subsystem {
@Override
public void periodic() {
var result = camera.getLatestResult();
// var results = camera.getAllUnreadResults();
// if (results.size() == 0) return;
// var result = results.get(results.size()-1);
// var result = camera.getLatestResult();
var results = camera.getAllUnreadResults();
if (results.size() == 0) return;
var result = results.get(results.size()-1);
isTagDetected = result.hasTargets();
isTagProcessed = false;
// Optional<MultiTargetPNPResult> multitag = result.getMultiTagResult();
// if (multitag.isEmpty()) {
// Transform3d fieldToCamera = result.getMultiTagResult().estimatedPose.best;
// }else if()
// sbTag.setBoolean(isTag);
// field.setRobotPose(getPose2d());
// sbCamConnected.setBoolean(camera);
// System.out.println(isTag);
if(!isTagDetected){
// sbTagDetected.setBoolean(isTagDetected);
@@ -107,12 +96,11 @@ public class Vision extends Subsystem {
return;
}
var EstimatedRobotPose = getEstimatedGlobalPose();
var EstimatedRobotPose = getEstimatedGlobalPose(result);
// In case the pose estimator fails to estimate the pose, fallback to physical odometry.
if(EstimatedRobotPose.isEmpty()){
// sbTagProcessed.setBoolean(isTagProcessed);
field.setRobotPose(lastVisionPose);
field.setRobotPose(getPose2d());
return;
}
@@ -143,9 +131,22 @@ public class Vision extends Subsystem {
* @return An {@link EstimatedRobotPose} with an estimated pose, estimate timestamp, and targets
* used for estimation.
*/
public Optional<EstimatedRobotPose> getEstimatedGlobalPose() {
public Optional<EstimatedRobotPose> getEstimatedGlobalPose(PhotonPipelineResult change) {
Optional<EstimatedRobotPose> visionEst = Optional.empty();
for (var change : camera.getAllUnreadResults()) {
// for (var change : camera.getAllUnreadResults()) {
var targets = change.getTargets();
for(int i = targets.size()-1; i >= 0; i--){
Transform3d pos = targets.get(i).getBestCameraToTarget();
double distance = Math.sqrt(Math.pow(pos.getX(),2) + Math.pow(pos.getY(),2) + Math.pow(pos.getZ(),2));
if (distance > VisionConstants.MIN_ESTIMATION_DISTANCE) {
change.targets.remove(i);
}
}
if(targets.size() <= 0)
return visionEst; // Will be empty
visionEst = photonEstimator.update(change);
updateEstimationStdDevs(visionEst, change.getTargets());
@@ -159,16 +160,11 @@ public class Vision extends Subsystem {
// getSimDebugField().getObject("VisionEstimation").setPoses();
// });
// }
}
// }
return visionEst;
}
/**
* Calculates new standard deviations This algorithm is a heuristic that creates dynamic standard
* deviations based on number of tags, estimation strategy, and distance from the tags.
@@ -192,13 +188,17 @@ public class Vision extends Subsystem {
for (var tgt : targets) {
var tagPose = photonEstimator.getFieldTags().getTagPose(tgt.getFiducialId());
if (tagPose.isEmpty()) continue;
numTags++;
avgDist +=
tagPose
.get()
.toPose2d()
.getTranslation()
.getDistance(estimatedPose.get().estimatedPose.toPose2d().getTranslation());
double distance = tagPose
.get()
.toPose2d()
.getTranslation()
.getDistance(estimatedPose.get().estimatedPose.toPose2d().getTranslation());
if (distance < VisionConstants.MIN_ESTIMATION_DISTANCE) {
numTags++;
avgDist += distance;
}
}
if (numTags == 0) {