Team_2648/2024_Robot_Code
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Visual interfacing changes, needs more work before an actual implementation is tried with PhotonLib

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This commit is contained in:
Bradley Bickford 2024-01-12 14:07:49 -05:00
parent 5e784eb9f6
commit 224d966e3e
3 changed files with 16 additions and 5 deletions
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9
src/main/java/frc/robot/interfaces/IAprilTagProvider.java Normal file
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@ -0,0 +1,9 @@
package frc.robot.interfaces;
import java.util.OptionalDouble;
public interface IAprilTagProvider {
public OptionalDouble getTagHorizontalOffsetByID(int id);
public OptionalDouble getTagDistanceFromCameraByID(int id);
}

6
src/main/java/frc/robot/utilities/VisualPoseProvider.java → src/main/java/frc/robot/interfaces/IVisualPoseProvider.java
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@ -1,8 +1,10 @@
package frc.robot.utilities; package frc.robot.interfaces;
import java.util.Optional;
import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose2d;
public interface VisualPoseProvider { public interface IVisualPoseProvider {
public record VisualPose(Pose2d visualPose, double timestamp) {} public record VisualPose(Pose2d visualPose, double timestamp) {}
public VisualPose getVisualPose(); public VisualPose getVisualPose();

6
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -24,7 +24,7 @@ import frc.robot.constants.AutoConstants;
import frc.robot.constants.DrivetrainConstants; import frc.robot.constants.DrivetrainConstants;
import frc.robot.utilities.MAXSwerveModule; import frc.robot.utilities.MAXSwerveModule;
import frc.robot.utilities.SwerveUtils; import frc.robot.utilities.SwerveUtils;
import frc.robot.utilities.VisualPoseProvider; import frc.robot.interfaces.IVisualPoseProvider;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.PIDCommand; import edu.wpi.first.wpilibj2.command.PIDCommand;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
@ -42,7 +42,7 @@ public class Drivetrain extends SubsystemBase {
private final SlewRateLimiter m_magLimiter; private final SlewRateLimiter m_magLimiter;
private final SlewRateLimiter m_rotLimiter; private final SlewRateLimiter m_rotLimiter;
private final VisualPoseProvider m_visualPoseProvider; private final IVisualPoseProvider m_visualPoseProvider;
// Odometry class for tracking robot pose // Odometry class for tracking robot pose
SwerveDrivePoseEstimator m_poseEstimator; SwerveDrivePoseEstimator m_poseEstimator;
@ -55,7 +55,7 @@ public class Drivetrain extends SubsystemBase {
private double m_prevTime; private double m_prevTime;
/** Creates a new DriveSubsystem. */ /** Creates a new DriveSubsystem. */
public Drivetrain(Pose2d initialPose, VisualPoseProvider visualPoseProvider) { public Drivetrain(Pose2d initialPose, IVisualPoseProvider visualPoseProvider) {
m_frontLeft = new MAXSwerveModule( m_frontLeft = new MAXSwerveModule(
DrivetrainConstants.kFrontLeftDrivingCanId, DrivetrainConstants.kFrontLeftDrivingCanId,
DrivetrainConstants.kFrontLeftTurningCanId, DrivetrainConstants.kFrontLeftTurningCanId,