Class VisionIOLimelight

java.lang.Object

com.stuypulse.robot.subsystems.vision.VisionIOLimelight

All Implemented Interfaces:

VisionIO

public class VisionIOLimelight
extends Object
implements VisionIO

IO implementation for real Limelight hardware.

Nested Class Summary

Nested classes/interfaces inherited from interface VisionIO

VisionIO.MegaTagMode, VisionIO.PoseObservation, VisionIO.PoseObservationType, VisionIO.TargetObservation, VisionIO.VisionIOInputs, VisionIO.VisionIOOutputs

Field Summary

Fields

Modifier and Type	Field	Description
private final org.wpilib.networktables.DoubleArrayPublisher	aprilTagWhitelistPublisher
private final org.wpilib.networktables.IntegerPublisher	imuModePublisher
private final org.wpilib.networktables.DoubleSubscriber	latencySubscriber
private final org.wpilib.networktables.DoubleArraySubscriber	megatag1Subscriber
private final org.wpilib.networktables.DoubleArraySubscriber	megatag2Subscriber
private VisionIO.MegaTagMode	megaTagMode
private final org.wpilib.networktables.DoubleArrayPublisher	orientationPublisher
private final org.wpilib.networktables.IntegerPublisher	pipelinePublisher
private final org.wpilib.networktables.IntegerSubscriber	pipelineSubscriber
private final Supplier<org.wpilib.math.geometry.Rotation2d>	rotationSupplier
private final org.wpilib.networktables.DoubleSubscriber	txSubscriber
private final org.wpilib.networktables.DoubleSubscriber	tySubscriber

Constructor Summary

Constructors

Constructor	Description
VisionIOLimelight(String name, org.wpilib.math.geometry.Transform3d robotToCamera, Supplier<org.wpilib.math.geometry.Rotation2d> rotationSupplier)	Creates a new VisionIOLimelight.

Method Summary

Modifier and Type	Method	Description
void	applyOutputs(VisionIO.VisionIOOutputs outputs)
private static org.wpilib.math.geometry.Pose3d	parsePose(double[] rawLLArray)	Parses the 3D pose from a Limelight botpose array.
void	updateInputs(VisionIO.VisionIOInputs inputs)

Methods inherited from class Object

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

Field Details

rotationSupplier

private final Supplier<org.wpilib.math.geometry.Rotation2d> rotationSupplier

orientationPublisher

private final org.wpilib.networktables.DoubleArrayPublisher orientationPublisher

pipelinePublisher

private final org.wpilib.networktables.IntegerPublisher pipelinePublisher

imuModePublisher

private final org.wpilib.networktables.IntegerPublisher imuModePublisher

aprilTagWhitelistPublisher

private final org.wpilib.networktables.DoubleArrayPublisher aprilTagWhitelistPublisher

latencySubscriber

private final org.wpilib.networktables.DoubleSubscriber latencySubscriber

txSubscriber

private final org.wpilib.networktables.DoubleSubscriber txSubscriber

tySubscriber

private final org.wpilib.networktables.DoubleSubscriber tySubscriber

megatag1Subscriber

private final org.wpilib.networktables.DoubleArraySubscriber megatag1Subscriber

megatag2Subscriber

private final org.wpilib.networktables.DoubleArraySubscriber megatag2Subscriber

pipelineSubscriber

private final org.wpilib.networktables.IntegerSubscriber pipelineSubscriber

megaTagMode

private VisionIO.MegaTagMode megaTagMode

Constructor Details

VisionIOLimelight

public VisionIOLimelight(String name,
 org.wpilib.math.geometry.Transform3d robotToCamera,
 Supplier<org.wpilib.math.geometry.Rotation2d> rotationSupplier)

Creates a new VisionIOLimelight.

Parameters:

name - The configured name of the Limelight.

rotationSupplier - Supplier for the current estimated rotation, used for MegaTag 2.

Method Details

updateInputs

public void updateInputs(VisionIO.VisionIOInputs inputs)

Specified by:

updateInputs in interface VisionIO

parsePose

private static org.wpilib.math.geometry.Pose3d parsePose(double[] rawLLArray)

Parses the 3D pose from a Limelight botpose array.

applyOutputs

public void applyOutputs(VisionIO.VisionIOOutputs outputs)

Specified by:

applyOutputs in interface VisionIO