Nr rx/vision pipline switching #189
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Co-authored-by: Myles Pasetsky <[email protected]> Co-authored-by: reyamiller <[email protected]>
Co-authored-by: Richie Xue <[email protected]> Co-authored-by: bananaeater321 <[email protected]> Co-authored-by: reyamiller <[email protected]> Co-authored-by: Edgar694 <[email protected]>
Remove limp in Robot.java
- abstract Vision Data class - ReflectiveTapeData - VisionImpl and Odometry updated to work with both types of data Co-authored-by: Richie Xue <[email protected]>
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| // 330.0 (-30.0 degrees) is the pitch of the limelight | ||
| return Angle.fromDegrees(Limelight.getInstance().getTargetYAngle() - 330.0); |
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Where is the 330 from? If its the limelight pitch, you should create a constant in Settings for it
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| private Angle getYAngle() { | ||
| if (!hasAnyTarget()) { | ||
| // Settings.reportWarning("Unable To Find Target! [getYAngle() was called]"); |
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Just delete this line
| @@ -27,6 +28,8 @@ public class Limelight { | |||
| private final IntegerEntry idEntry; | |||
| private final DoubleArrayEntry blueBotposeEntry; | |||
| private final DoubleArrayEntry redBotposeEntry; | |||
| private final NetworkTableEntry txEntry; | |||
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I think this should be a double entry. You guys should also have an entry for ty and maybe tv for checking if you have data or not.
| @@ -64,6 +68,10 @@ private double[] getPoseData() { | |||
| redBotposeEntry.get(); | |||
| } | |||
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Maybe implement a get distance function based off of Excelsior's code?
| public boolean hasAnyTarget() { | ||
| return Limelight.getInstance().getValidTarget(); | ||
| } | ||
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Maybe override the getPose function and just return a pose2d from the distance and angle you get from the reflective tape
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You guys also need to implement a swapping pipeline system for switching between reflective tape and apriltag mode
Look at this link for pipeline docs: https://docs.limelightvision.io/en/latest/networktables_api.html
peg align isn't done yet Co-authored-by: vincentw <[email protected]>
…rx/vision-pipline-switching
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