Class VisionIOPhoton

java.lang.Object

com.stuypulse.robot.subsystems.vision.VisionIOPhoton

All Implemented Interfaces:

VisionIO

Direct Known Subclasses:

VisionIOPhotonSim

public class VisionIOPhoton
extends Object
implements VisionIO

IO implementation for real PhotonVision 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
protected final org.photonvision.PhotonCamera	camera
protected final org.wpilib.math.geometry.Transform3d	robotToCamera

Constructor Summary

Constructors

Constructor	Description
VisionIOPhoton(String name, org.wpilib.math.geometry.Transform3d robotToCamera)	Creates a new VisionIOPhotonVision.

Method Summary

Modifier and Type	Method	Description
void	applyOutputs(VisionIO.VisionIOOutputs outputs)
void	updateInputs(VisionIO.VisionIOInputs inputs)

Methods inherited from class Object

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

Field Details

camera

protected final org.photonvision.PhotonCamera camera

robotToCamera

protected final org.wpilib.math.geometry.Transform3d robotToCamera

Constructor Details

VisionIOPhoton

public VisionIOPhoton(String name,
 org.wpilib.math.geometry.Transform3d robotToCamera)

Creates a new VisionIOPhotonVision.

Parameters:

name - The configured name of the camera.

robotToCamera - The 3D position of the camera relative to the robot.

Method Details

updateInputs

public void updateInputs(VisionIO.VisionIOInputs inputs)

Specified by:

updateInputs in interface VisionIO

applyOutputs

public void applyOutputs(VisionIO.VisionIOOutputs outputs)

Specified by:

applyOutputs in interface VisionIO