mirror of
https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 00:28:06 -06:00
72 lines
2.8 KiB
Python
72 lines
2.8 KiB
Python
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#!/usr/bin/env python3
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###################################################################################
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# MIT License
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#
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# Copyright (c) PhotonVision
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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###################################################################################
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import drivetrain
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import wpilib
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import wpimath.geometry
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from photonlibpy import PhotonCamera, PhotonPoseEstimator, PoseStrategy
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from robotpy_apriltag import AprilTagField, AprilTagFieldLayout
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kRobotToCam = wpimath.geometry.Transform3d(
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wpimath.geometry.Translation3d(0.5, 0.0, 0.5),
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wpimath.geometry.Rotation3d.fromDegrees(0.0, -30.0, 0.0),
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)
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class MyRobot(wpilib.TimedRobot):
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def robotInit(self) -> None:
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"""Robot initialization function"""
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self.controller = wpilib.XboxController(0)
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self.swerve = drivetrain.Drivetrain()
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self.cam = PhotonCamera("YOUR CAMERA NAME")
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self.camPoseEst = PhotonPoseEstimator(
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AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo),
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PoseStrategy.LOWEST_AMBIGUITY,
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self.cam,
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kRobotToCam,
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)
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def robotPeriodic(self) -> None:
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camEstPose = self.camPoseEst.update()
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if camEstPose:
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self.swerve.addVisionPoseEstimate(
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camEstPose.estimatedPose, camEstPose.timestampSeconds
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)
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self.swerve.updateOdometry()
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self.swerve.log()
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def teleopPeriodic(self) -> None:
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xSpeed = -1.0 * self.controller.getLeftY() * drivetrain.kMaxSpeed
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ySpeed = -1.0 * self.controller.getLeftX() * drivetrain.kMaxSpeed
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rot = -1.0 * self.controller.getRightX() * drivetrain.kMaxAngularSpeed
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self.swerve.drive(xSpeed, ySpeed, rot, True, self.getPeriod())
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def _simulationPeriodic(self) -> None:
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self.swerve.simulationPeriodic()
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return super()._simulationPeriodic()
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