Adding Drivebase changes from 1/20 build session, AprilTagLock works!

src/main/java/frc/robot/RobotContainer.java

@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import java.io.IOException;
 import java.util.Optional;
 
 import com.pathplanner.lib.auto.AutoBuilder;
@@ -11,6 +12,8 @@ import com.pathplanner.lib.auto.NamedCommands;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -21,12 +24,16 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.OIConstants;
+import frc.robot.constants.PhotonConstants;
 import frc.robot.subsystems.Drivetrain;
+import frc.robot.utilities.PhotonVision;
 
 public class RobotContainer {
   private static final String kAutoTabName = "Autonomous";
   private static final String kTeleopTabName = "Teloperated";
 
+  private PhotonVision photonvision;
+
   private Drivetrain drivetrain;
 
   private CommandXboxController primary;
@@ -45,10 +52,21 @@ public class RobotContainer {
   private int speakerTag;
 
   public RobotContainer() {
+    try {
+      photonvision = new PhotonVision(
+        PhotonConstants.kCameraName, 
+        PhotonConstants.kCameraTransform, 
+        PhotonConstants.kCameraHeightMeters,
+        PhotonConstants.kCameraPitchRadians
+      );
+    } catch (IOException e) {
+      photonvision = null;
+    }
+
     // TODO Need to provide a real initial pose
     // TODO Need to provide a real IAprilTagProvider, null means we're not using one at all
     // TODO Need to provide a real VisualPoseProvider, null means we're not using one at all
-    drivetrain = new Drivetrain(new Pose2d(), null, null);
+    drivetrain = new Drivetrain(new Pose2d(), photonvision, null);
 
     // An example Named Command, doesn't need to remain once we start actually adding real things
     // ALL Named Commands need to be defined AFTER subsystem initialization and BEFORE auto/controller configuration

src/main/java/frc/robot/constants/DrivetrainConstants.java

@@ -47,5 +47,5 @@ public final class DrivetrainConstants {
 
     public static final boolean kGyroReversed = true;
 
-    public static final double kRobotStartOffset = 0;
+    public static final double kRobotStartOffset = 90;
 }

src/main/java/frc/robot/constants/PhotonConstants.java

@@ -0,0 +1,17 @@
+package frc.robot.constants;
+
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
+
+public class PhotonConstants {
+    public static final String kCameraName = "Camera_Module_v1";
+
+    // TODO Set this to something real if visual pose estimation is used
+    public static final Transform3d kCameraTransform = new Transform3d();
+
+    // TODO The camera will be moved, this is an old value that needs to update
+    public static final double kCameraHeightMeters = .517525;
+
+    // TODO The camera will be moved, this is an old value that needs to update
+    public static final double kCameraPitchRadians = Units.degreesToRadians(15);
+}

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -360,7 +360,7 @@ public class Drivetrain extends SubsystemBase {
                     -MathUtil.applyDeadband(xSpeed.getAsDouble(), deadband), 
                     -MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband), 
                     output, 
-                    () -> true, 
+                    () -> fieldRelativeControl, 
                     true
                 );
             }, 

vendordeps/photonlib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2024.1.2",
+    "version": "v2024.2.0",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2024",
     "mavenUrls": [
@@ -14,7 +14,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2024.1.2",
+            "version": "v2024.2.0",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -29,7 +29,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2024.1.2",
+            "version": "v2024.2.0",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -46,12 +46,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2024.1.2"
+            "version": "v2024.2.0"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2024.1.2"
+            "version": "v2024.2.0"
         }
     ]
 }