Package com.flarerobotics.lib.subsystem.vision

Class LibVisionSubsystem

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
com.flarerobotics.lib.subsystem.vision.LibVisionSubsystem
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class LibVisionSubsystem extends edu.wpi.first.wpilibj2.command.SubsystemBase
A preset vision subsystem used for robot localization via AprilTags. Supports Limelight, Photon and Photon Simulation.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static interface 
    LibVisionSubsystem.VisionConsumer
    The consumer functional interface for the addVisionMeasurement method.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final RectangularRegion
    kFieldRegion
    The region representing the rectangular field.
    static final edu.wpi.first.apriltag.AprilTagFieldLayout
    kLayout
    The AprilTag layout of the field.

  • Constructor Summary

    Constructors
    Constructor
    Description
    LibVisionSubsystem(LibVisionSubsystem.VisionConsumer addMeasurement, LibVisionIO... cameras)
    Constructs a new LibVisionSubsystem.

  • Method Summary

    Modifier and Type
    Method
    Description
    com.flarerobotics.lib.subsystem.vision.VisionIOInputsAutoLogged[]
    getCameraInputs()
    Returns the camera inputs.
    LibVisionIO[]
    getCamerasIO()
    Returns the cameras as an IO interface array.
    boolean
    getTV()
    Returns whether the vision detects a valid target.
    boolean
    getTV(int cameraIndex)
    Returns whether the vision detects a valid target.
    edu.wpi.first.math.geometry.Rotation2d
    getTX(int cameraIndex)
    Returns the X angle to the best target, which can be used for simple servoing with vision.
    edu.wpi.first.math.geometry.Rotation2d
    getTY(int cameraIndex)
    Returns the Y angle to the best target, which can be used for simple servoing with vision.
    void
    periodic()
     
    void
    setAngularStdDevBaseline(double baseline)
    Sets the baseline for the angular standard deviations.
    void
    setAngularStdDevFactor_MT2(double factor)
    Sets the angular standard deviations factor applied for MegaTag2.
    void
    setCameraStdDevFactors(double[] factors)
    Sets the standard deviation factors for each camera in the same order it was provided in the constructor.
    void
    setLinearStdDevBaseline(double baseline)
    Sets the baseline for the linear standard deviations.
    void
    setLinearStdDevFactor_MT2(double factor)
    Sets the linear deviations factor applied for MegaTag2.
    void
    setMaxAmbiguity(double max)
    Sets the maximum ambiguity for the robot's pose.
    void
    setMaxHeight(edu.wpi.first.units.measure.Distance height)
    Sets the height threshold (invalidation point) for the vision pose.

    Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

    addChild, getName, getSubsystem, initSendable, setName, setSubsystem

    Methods inherited from class java.lang.Object

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

    Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

    defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

  • Field Details

    • kLayout

      public static final edu.wpi.first.apriltag.AprilTagFieldLayout kLayout
      The AprilTag layout of the field.

    • kFieldRegion

      public static final RectangularRegion kFieldRegion
      The region representing the rectangular field.

  • Constructor Details

    • LibVisionSubsystem

      public LibVisionSubsystem(LibVisionSubsystem.VisionConsumer addMeasurement, LibVisionIO... cameras)
      Constructs a new LibVisionSubsystem.
      Parameters:
      addMeasurement - The consumer to add a vision measurement. Recommended to use a WPILib pose estimator.
      cameras - The IO interfaces to provide for each individual camera.

  • Method Details

    • periodic

      public void periodic()

    • getTX

      public edu.wpi.first.math.geometry.Rotation2d getTX(int cameraIndex)
      Returns the X angle to the best target, which can be used for simple servoing with vision.
      Parameters:
      cameraIndex - The index of the camera to use.
      Returns:
      The X angle to the bast target.

    • getTY

      public edu.wpi.first.math.geometry.Rotation2d getTY(int cameraIndex)
      Returns the Y angle to the best target, which can be used for simple servoing with vision.
      Parameters:
      cameraIndex - The index of the camera to use.
      Returns:
      The Y angle to the best target.

    • getTV

      public boolean getTV()
      Returns whether the vision detects a valid target.
      Returns:
      True if a valid target is detected.

    • getTV

      public boolean getTV(int cameraIndex)
      Returns whether the vision detects a valid target.
      Parameters:
      cameraIndex - The index of the camera.
      Returns:
      True if a valid target is detected.

    • getCamerasIO

      public LibVisionIO[] getCamerasIO()
      Returns the cameras as an IO interface array.
      Returns:
      The camera array.

    • getCameraInputs

      public com.flarerobotics.lib.subsystem.vision.VisionIOInputsAutoLogged[] getCameraInputs()
      Returns the camera inputs.
      Returns:
      The input array.

    • setMaxHeight

      public void setMaxHeight(edu.wpi.first.units.measure.Distance height)
      Sets the height threshold (invalidation point) for the vision pose. Defaults to 1 meter.
      Parameters:
      height - The max height.

    • setMaxAmbiguity

      public void setMaxAmbiguity(double max)
      Sets the maximum ambiguity for the robot's pose. Defaults to 0.3.
      Parameters:
      max - The maximum ambiguity.

    • setLinearStdDevBaseline

      public void setLinearStdDevBaseline(double baseline)
      Sets the baseline for the linear standard deviations. Defaults to 0.02.

      Standard deviations are for 1 meter distance and 1 tag. Is adjusted automatically based on distance and the number of tags.

      Parameters:
      baseline - The baseline.

    • setAngularStdDevBaseline

      public void setAngularStdDevBaseline(double baseline)
      Sets the baseline for the angular standard deviations. Defaults to 0.06.

      Standard deviations are for 1 meter distance and 1 tag. Is adjusted automatically based on distance and the number of tags.

      Parameters:
      baseline - The baseline.

    • setLinearStdDevFactor_MT2

      public void setLinearStdDevFactor_MT2(double factor)
      Sets the linear deviations factor applied for MegaTag2. Defaults to 0.5.
      Parameters:
      factor - The factor.

    • setAngularStdDevFactor_MT2

      public void setAngularStdDevFactor_MT2(double factor)
      Sets the angular standard deviations factor applied for MegaTag2. Defaults to Infinity.
      Parameters:
      factor - The factor.

    • setCameraStdDevFactors

      public void setCameraStdDevFactors(double[] factors)
      Sets the standard deviation factors for each camera in the same order it was provided in the constructor.
      Parameters:
      factors - The factors.