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51 lines
1.5 KiB
Markdown
51 lines
1.5 KiB
Markdown
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## PhotonLib Java Examples
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All examples demonstrate controlling a swerve drive with outputs from PhotonVision.
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Simulation is available to demonstrate the concepts - swerve physics is approximated.
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You can access a stream of what the simulated camera sees by going to https://localhost:1182 .
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### Running examples
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For instructions on how to run these examples locally, see [Running Examples](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).
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---
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### [**`aimattarget`**](aimattarget)
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A simple demonstration of using PhotonVision's 2d target yaw to align a differential drivetrain with a target.
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**Keyboard controls:**
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- Translate field-relative: WASD
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- Rotate counter/clockwise: Q/E
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- Perform vision alignment: Z
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---
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### [**`aimandrange`**](aimandrange)
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Extends`aimattarget` to add getting in range of the target.
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**Keyboard controls:**
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- Translate field-relative: WASD
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- Rotate counter/clockwise: Q/E
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- Perform vision alignment: Z
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---
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### [**`poseest`**](poseest)
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The example also has simulation support with an approximation of swerve drive dynamics.
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<img src="https://github-production-user-asset-6210df.s3.amazonaws.com/7953350/268862944-3392e69a-7705-4dbc-9eb8-0d03a6e27b9e.png" width=60% height=60%>
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<img src="https://github-production-user-asset-6210df.s3.amazonaws.com/7953350/268857280-bae145b8-356e-4afb-b842-597dbea60df6.png" width=60% height=60%>
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**Keyboard controls:**
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- Translate field-relative: WASD
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- Rotate counter/clockwise: Q/E
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- Perform vision alignment: Z
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- Offset pose estimate: X
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