Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 08:48:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

VIsion and Roller

Browse Source 
vision constants and implementation
roller percent output
operator controls update
This commit is contained in:
Michael Mikovsky
2026-02-17 18:53:26 -08:00
parent 7ec022bc7a
commit 3a5057fc41
11 changed files with 69 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotMap.java
+11 -5
View File
@@ -9,6 +9,8 @@ package frc4388.robot;
import com.ctre.phoenix6.hardware.TalonFX;
import org.photonvision.PhotonCamera;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
@@ -16,6 +18,7 @@ import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.constants.Constants;
//import frc4388.robot.constants.Constants.ElevatorConstants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.robot.constants.Constants.VisionConstants;
import frc4388.robot.subsystems.intake.IntakeConstants;
import frc4388.robot.subsystems.intake.IntakeIO;
import frc4388.robot.subsystems.intake.IntakeReal;
@@ -27,7 +30,10 @@ import frc4388.robot.subsystems.shooter.ShooterReal;
import frc4388.robot.subsystems.swerve.SwerveDriveConstants;
import frc4388.robot.subsystems.swerve.SwerveIO;
import frc4388.robot.subsystems.swerve.SwerveReal;
import frc4388.robot.subsystems.vision.VisionIO;
import frc4388.robot.subsystems.vision.VisionReal;
import frc4388.utility.status.FaultCANCoder;
import frc4388.utility.status.FaultPhotonCamera;
import frc4388.utility.status.FaultPidgeon2;
import frc4388.utility.status.FaultTalonFX;
@@ -40,7 +46,7 @@ public class RobotMap {
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
// public final VisionIO leftCamera;
// public final VisionIO rightCamera;
public final VisionIO rightCamera;
// public final LiDAR lidar = new
@@ -63,13 +69,13 @@ public class RobotMap {
case REAL:
// Configure cameras
// PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
// leftCamera = new VisionReal(leftCameraReal, VisionConstants.RIGHT_CAMERA_POS); ;
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.LEFT_CAMERA_POS);
rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
// FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// // Configure LiDAR
// reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
@@ -131,7 +137,7 @@ public class RobotMap {
// break;
default:
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
swerveDrivetrain = new SwerveIO() {};
intakeIO = new IntakeIO() {};
shooterIO = new ShooterIO() {};