Initial commit

2026-06-09 00:28:06 -06:00 · 2024-12-09 08:01:09 -07:00
commit 9e4ab26005
1408 changed files with 143829 additions and 0 deletions
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+#!/usr/bin/env python3
+###################################################################################
+# MIT License
+#
+# Copyright (c) PhotonVision
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+###################################################################################
+
+
+import drivetrain
+import wpilib
+import wpimath.geometry
+from photonlibpy import PhotonCamera, PhotonPoseEstimator, PoseStrategy
+from robotpy_apriltag import AprilTagField, AprilTagFieldLayout
+
+kRobotToCam = wpimath.geometry.Transform3d(
+    wpimath.geometry.Translation3d(0.5, 0.0, 0.5),
+    wpimath.geometry.Rotation3d.fromDegrees(0.0, -30.0, 0.0),
+)
+
+
+class MyRobot(wpilib.TimedRobot):
+    def robotInit(self) -> None:
+        """Robot initialization function"""
+        self.controller = wpilib.XboxController(0)
+        self.swerve = drivetrain.Drivetrain()
+        self.cam = PhotonCamera("YOUR CAMERA NAME")
+        self.camPoseEst = PhotonPoseEstimator(
+            AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo),
+            PoseStrategy.LOWEST_AMBIGUITY,
+            self.cam,
+            kRobotToCam,
+        )
+
+    def robotPeriodic(self) -> None:
+        camEstPose = self.camPoseEst.update()
+        if camEstPose:
+            self.swerve.addVisionPoseEstimate(
+                camEstPose.estimatedPose, camEstPose.timestampSeconds
+            )
+
+        self.swerve.updateOdometry()
+        self.swerve.log()
+
+    def teleopPeriodic(self) -> None:
+        xSpeed = -1.0 * self.controller.getLeftY() * drivetrain.kMaxSpeed
+        ySpeed = -1.0 * self.controller.getLeftX() * drivetrain.kMaxSpeed
+        rot = -1.0 * self.controller.getRightX() * drivetrain.kMaxAngularSpeed
+
+        self.swerve.drive(xSpeed, ySpeed, rot, True, self.getPeriod())
+
+    def _simulationPeriodic(self) -> None:
+        self.swerve.simulationPeriodic()
+        return super()._simulationPeriodic()