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Add code from photonvision

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This commit is contained in:
Michael Mikovsky
2025-01-09 12:57:04 -07:00
parent bdef8352d4
commit d81c4b381d
10 changed files with 436 additions and 15 deletions
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src/main/java/frc4388/robot/Constants.java
+19
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@@ -27,6 +27,15 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
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.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
@@ -267,6 +276,16 @@ public final class Constants {
}
public static final class VisionConstants {
public static final String CAMERA_NAME = "photonvision";
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(), new Rotation3d());
public static final AprilTagFieldLayout kTagLayout = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
// 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);
public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.5, 0.5, 1);
}
public static final class DriveConstants {