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| Original file line number | Diff line number | Diff line change |
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.subsystems; | ||
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| import java.util.Optional; | ||
| import java.util.function.BooleanSupplier; | ||
| import java.util.function.DoubleSupplier; | ||
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| import org.photonvision.EstimatedRobotPose; | ||
| import org.photonvision.PhotonCamera; | ||
| import org.photonvision.PhotonPoseEstimator; | ||
| import org.photonvision.targeting.PhotonPipelineResult; | ||
| import org.photonvision.targeting.PhotonTrackedTarget; | ||
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| import edu.wpi.first.math.Pair; | ||
| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.wpilibj2.command.CommandScheduler; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.thunder.shuffleboard.LightningShuffleboardPeriodic; | ||
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| public class PhotonFront extends SubsystemBase { | ||
| PhotonCamera photonCamera; | ||
| PhotonPoseEstimator photonPoseEstimator; | ||
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| public String photonName; | ||
| PhotonCamera cam = new PhotonCamera(photonName); | ||
| boolean loggingStarted = false; | ||
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| private LightningShuffleboardPeriodic periodicShuffleboard; | ||
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| /** Creates a new PhotonBack. */ | ||
| public PhotonFront(String photonName) { | ||
| this.photonName = photonName; | ||
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| CommandScheduler.getInstance().registerSubsystem(this); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| if (!loggingStarted && hasVision()){ | ||
| initializeLogging(); | ||
| } | ||
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| if (hasVision() && loggingStarted){ | ||
| periodicShuffleboard.loop(); | ||
| } | ||
| } | ||
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| public boolean hasVision() { | ||
| return getPipelineResult().getTargets() != null; | ||
| } | ||
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| public PhotonPipelineResult getPipelineResult() { | ||
| return cam.getLatestResult(); | ||
| } | ||
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| public PhotonTrackedTarget getTrackedTarget() { | ||
| return getPipelineResult().getBestTarget(); | ||
| } | ||
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| public double getYaw(){ | ||
| return getTrackedTarget().getYaw(); | ||
| } | ||
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| public double getPitch(){ | ||
| return getTrackedTarget().getPitch(); | ||
| } | ||
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| public double getSkew(){ | ||
| return getTrackedTarget().getSkew(); | ||
| } | ||
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| public double getTargetId(){ | ||
| return getTrackedTarget().getFiducialId(); | ||
| } | ||
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| @SuppressWarnings("unchecked") | ||
| private void initializeLogging() { | ||
| periodicShuffleboard = new LightningShuffleboardPeriodic("Vision", 0.17, | ||
| new Pair<String, Object>(photonName + "Skew", (DoubleSupplier) () -> getSkew()), | ||
| new Pair<String, Object>(photonName + "Pitch", (DoubleSupplier) () -> getPitch()), | ||
| new Pair<String, Object>(photonName + "Yaw", (DoubleSupplier) () -> getYaw()), | ||
| new Pair<String, Object>(photonName + "TrackedTarget", (DoubleSupplier) () -> getTargetId()), | ||
| new Pair<String, Object>(photonName + "Has Vision", (BooleanSupplier) () -> hasVision())); | ||
| } | ||
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| public Optional<EstimatedRobotPose> getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose) { | ||
| if (photonPoseEstimator == null) { | ||
| // The field layout failed to load, so we cannot estimate poses. | ||
| return Optional.empty(); | ||
| } | ||
| photonPoseEstimator.setReferencePose(prevEstimatedRobotPose); | ||
| return photonPoseEstimator.update(); | ||
| } | ||
| } |
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