photonvision-2025.0.0-beta-6/photonlib-java-examples

PhotonLib Java Examples

All examples demonstrate controlling a swerve drive with outputs from PhotonVision.

Simulation is available to demonstrate the concepts - swerve physics is approximated.

You can access a stream of what the simulated camera sees by going to https://localhost:1182 .

Running examples

For instructions on how to run these examples locally, see Running Examples.

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aimattarget

A simple demonstration of using PhotonVision's 2d target yaw to align a differential drivetrain with a target.

Keyboard controls:

• Translate field-relative: WASD
• Rotate counter/clockwise: Q/E
• Perform vision alignment: Z

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aimandrange

Extendsaimattarget to add getting in range of the target.

Keyboard controls:

• Translate field-relative: WASD
• Rotate counter/clockwise: Q/E
• Perform vision alignment: Z

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poseest

The example also has simulation support with an approximation of swerve drive dynamics.

Keyboard controls:

• Translate field-relative: WASD
• Rotate counter/clockwise: Q/E
• Perform vision alignment: Z
• Offset pose estimate: X