Class Vision

java.lang.Object

com.stuypulse.robot.util.PeriodicSubsystem

com.stuypulse.robot.subsystems.vision.Vision

All Implemented Interfaces:

org.wpilib.command3.Mechanism

public class Vision
extends PeriodicSubsystem

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	Vision.VisionConsumer

Field Summary

Fields

Modifier and Type	Field	Description
private final Vision.VisionConsumer	consumer
private final EnumMap<VisionConstants.Camera, org.wpilib.util.Alert>	disconnectedAlerts
private final org.wpilib.system.Timer	hdrTimer
private final EnumMap<VisionConstants.Camera, com.stuypulse.robot.subsystems.vision.VisionIOInputsAutoLogged>	inputs
private final EnumMap<VisionConstants.Camera, VisionIO>	io
private final EnumMap<VisionConstants.Camera, VisionIO.VisionIOOutputs>	outputs

Constructor Summary

Constructors

Constructor	Description
Vision(Vision.VisionConsumer consumer, EnumMap<VisionConstants.Camera, VisionIO> cameraIOMap)

Method Summary

Modifier and Type	Method	Description
void	disable()
void	enable()
Optional<Integer>	getPipeline()
org.wpilib.math.geometry.Rotation2d	getTargetX(VisionConstants.Camera camera)	Returns the X angle to the best target, which can be used for simple servoing with vision.
void	periodic()	This method is called periodically before Scheduler.run(), and should be overriden for processing inputs.
void	periodicAfterScheduler()	This method is called periodically after Scheduler.run(), and should be overriden for applying outputs.
org.wpilib.command3.Command	resetIMU()
org.wpilib.command3.Command	setAprilTagWhitelist(int[] whitelist)
org.wpilib.command3.Command	setIMUMode(int imuMode)
private org.wpilib.command3.Command	setIMUMode(int imuMode, String name)
org.wpilib.command3.Command	setMegaTagMode(VisionIO.MegaTagMode mode)
org.wpilib.command3.Command	setPipeline(int pipeline)
org.wpilib.command3.Command	setVisionDisabled()
org.wpilib.command3.Command	setVisionEnabled()

Methods inherited from class PeriodicSubsystem

getName, runAllPeriodicAfterScheduler, toString

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.wpilib.command3.Mechanism

controllableDuringDisabled, getDefaultCommand, getRegisteredScheduler, getRunningCommands, idle, idleFor, run, runRepeatedly, setDefaultCommand

Field Details

consumer

private final Vision.VisionConsumer consumer

io

private final EnumMap<VisionConstants.Camera, VisionIO> io

inputs

private final EnumMap<VisionConstants.Camera, com.stuypulse.robot.subsystems.vision.VisionIOInputsAutoLogged> inputs

outputs

private final EnumMap<VisionConstants.Camera, VisionIO.VisionIOOutputs> outputs

disconnectedAlerts

private final EnumMap<VisionConstants.Camera, org.wpilib.util.Alert> disconnectedAlerts

hdrTimer

private final org.wpilib.system.Timer hdrTimer

Constructor Details

Vision

public Vision(Vision.VisionConsumer consumer,
 EnumMap<VisionConstants.Camera, VisionIO> cameraIOMap)

Method Details

getTargetX

public org.wpilib.math.geometry.Rotation2d getTargetX(VisionConstants.Camera camera)

Returns the X angle to the best target, which can be used for simple servoing with vision.

Parameters:

camera - The camera to use

getPipeline

public Optional<Integer> getPipeline()

periodic

public void periodic()

Description copied from class: PeriodicSubsystem

This method is called periodically before Scheduler.run(), and should be overriden for processing inputs.

Specified by:

periodic in class PeriodicSubsystem

periodicAfterScheduler

public void periodicAfterScheduler()

Description copied from class: PeriodicSubsystem

This method is called periodically after Scheduler.run(), and should be overriden for applying outputs.

Overrides:

periodicAfterScheduler in class PeriodicSubsystem

enable

public void enable()

disable

public void disable()

setPipeline

public org.wpilib.command3.Command setPipeline(int pipeline)

setMegaTagMode

public org.wpilib.command3.Command setMegaTagMode(VisionIO.MegaTagMode mode)

setVisionEnabled

public org.wpilib.command3.Command setVisionEnabled()

setVisionDisabled

public org.wpilib.command3.Command setVisionDisabled()

setAprilTagWhitelist

public org.wpilib.command3.Command setAprilTagWhitelist(int[] whitelist)

setIMUMode

private org.wpilib.command3.Command setIMUMode(int imuMode,
 String name)

setIMUMode

public org.wpilib.command3.Command setIMUMode(int imuMode)

resetIMU

public org.wpilib.command3.Command resetIMU()