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"usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [], - "eventMarkers": [], - "isTrajectoryStale": false - } - }, - "splitTrajectoriesAtStopPoints": true, - "usesObstacles": true -} \ No newline at end of file diff --git a/src/main/cpp/str/Camera.cpp b/src/main/cpp/str/Camera.cpp index 8201f60..b9f21dc 100644 --- a/src/main/cpp/str/Camera.cpp +++ b/src/main/cpp/str/Camera.cpp @@ -23,9 +23,8 @@ Camera::Camera(std::string cameraName, frc::Transform3d robotToCamera, nt->GetDoubleTopic(cameraName + "StdDevsRot").Publish()) { photonEstimator = std::make_unique( consts::yearSpecific::aprilTagLayout, - photon::PoseStrategy::MULTI_TAG_PNP_ON_COPROCESSOR, - std::move(photon::PhotonCamera(cameraName)), robotToCamera); - camera = photonEstimator->GetCamera(); + photon::PoseStrategy::MULTI_TAG_PNP_ON_COPROCESSOR, robotToCamera); + camera = std::make_unique(cameraName); camera->SetVersionCheckEnabled(false); photonEstimator->SetMultiTagFallbackStrategy( photon::PoseStrategy::LOWEST_AMBIGUITY); @@ -52,7 +51,7 @@ Camera::Camera(std::string cameraName, frc::Transform3d robotToCamera, } photon::PhotonPipelineResult Camera::GetLatestResult() { - return camera->GetLatestResult(); + return latestResult; } std::optional Camera::GetEstimatedGlobalPose() { @@ -60,28 +59,21 @@ std::optional Camera::GetEstimatedGlobalPose() { return std::nullopt; } - auto visionEst = photonEstimator->Update(); - units::second_t latestTimestamp = camera->GetLatestResult().GetTimestamp(); + std::optional visionEst; - // FIXME: waiting on wpilib for fix - // account for issue with NT sync not working correctly. - units::second_t now = frc::Timer::GetFPGATimestamp(); - if (latestTimestamp > now) { - latestTimestamp = now; - } + for(const auto& result : camera->GetAllUnreadResults()) { + visionEst = photonEstimator->Update(result); - bool newResult = - units::math::abs(latestTimestamp - lastEstTimestamp) > 1e-5_s; - if (visionEst.has_value()) { - posePub.Set(visionEst.value().estimatedPose.ToPose2d()); - } else { - if (newResult) { + if(visionEst.has_value()) { + posePub.Set(visionEst.value().estimatedPose.ToPose2d()); + } + else { posePub.Set({}); } + + latestResult = result; } - if (newResult) { - lastEstTimestamp = latestTimestamp; - } + return visionEst; } diff --git a/src/main/deploy/choreo/AlignToAmp.1.traj b/src/main/deploy/choreo/AlignToAmp.1.traj deleted file mode 100644 index 327a621..0000000 --- a/src/main/deploy/choreo/AlignToAmp.1.traj +++ /dev/null @@ -1,131 +0,0 @@ -{ - "samples": [ - { - "x": 1.831255555152893, - "y": 7.401153087615967, - "heading": 1.5707963267948966, - "angularVelocity": 4.626609000018098e-28, - "velocityX": -5.584007988156291e-47, - "velocityY": 2.2610184866111256, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ], - "timestamp": 0 - }, - { - "x": 1.831255555152893, - "y": 7.5535722343554035, - "heading": 1.5707963267948966, - "angularVelocity": -5.8806820046351615e-33, - "velocityX": 3.8262508232545346e-50, - "velocityY": 2.307511965154693, - "moduleForcesX": [ - -3.680650785632889e-28, - -3.6806507856328883e-28, - 3.6806507856328883e-28, - 3.680650785632889e-28 - ], - "moduleForcesY": [ - 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std::shared_ptr camera; + std::unique_ptr camera; std::unique_ptr visionSim; std::unique_ptr cameraProps; std::shared_ptr cameraSim; - units::second_t lastEstTimestamp{0_s}; + + photon::PhotonPipelineResult latestResult; Eigen::Matrix singleTagDevs; Eigen::Matrix multiTagDevs; diff --git a/src/main/include/subsystems/ShooterSubsystem.h b/src/main/include/subsystems/ShooterSubsystem.h index e5d502f..ffa9349 100644 --- a/src/main/include/subsystems/ShooterSubsystem.h +++ b/src/main/include/subsystems/ShooterSubsystem.h @@ -49,8 +49,8 @@ class ShooterSubsystem : public frc2::SubsystemBase { frc::LinearSystem<1, 1, 1> shooterPlant{frc::LinearSystemId::FlywheelSystem( consts::shooter::physical::SHOOTER_MOTOR, consts::shooter::physical::FLYWHEEL_MOI, consts::shooter::physical::SHOOTER_RATIO)}; - frc::sim::FlywheelSim topFlywheelSim{shooterPlant, consts::shooter::physical::SHOOTER_MOTOR, consts::shooter::physical::SHOOTER_RATIO}; - frc::sim::FlywheelSim bottomFlywheelSim{shooterPlant, consts::shooter::physical::SHOOTER_MOTOR, consts::shooter::physical::SHOOTER_RATIO}; + frc::sim::FlywheelSim topFlywheelSim{shooterPlant, consts::shooter::physical::SHOOTER_MOTOR}; + frc::sim::FlywheelSim bottomFlywheelSim{shooterPlant, consts::shooter::physical::SHOOTER_MOTOR}; std::shared_ptr nt{ nt::NetworkTableInstance::GetDefault().GetTable("Shooter")}; diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json new file mode 100644 index 0000000..96bd8b8 --- /dev/null +++ b/vendordeps/photonlib.json @@ -0,0 +1,57 @@ +{ + "fileName": "photonlib.json", + "name": "photonlib", + "version": "dev-Unknown", + "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", + "frcYear": "2024", + "mavenUrls": [ + "https://maven.photonvision.org/repository/internal", + "https://maven.photonvision.org/repository/snapshots" + ], + "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-cpp", + "version": "dev-Unknown", + "libName": "photonlib", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "dev-Unknown", + "libName": "photontargeting", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "javaDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-java", + "version": "dev-Unknown" + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-java", + "version": "dev-Unknown" + } + ] +}