Team_2648/2024_Robot_Code
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Removed an unnecessary method from IAprilTagProvider, and modified some stuff that used it so that things make more sense

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This commit is contained in:
Bradley Bickford 2024-01-15 16:29:00 -05:00
parent 477f066585
commit dd39baf182
4 changed files with 24 additions and 42 deletions
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17
.OutlineViewer/outlineviewer.json Normal file
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@ -0,0 +1,17 @@
{
"Connections": {
"open": true
},
"NetworkTables Settings": {
"mode": "Server"
},
"Server": {
"Publishers": {
"open": true
},
"Subscribers": {
"open": true
},
"open": true
}
}

22
src/main/java/frc/robot/interfaces/IAprilTagProvider.java
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@ -7,20 +7,6 @@ import java.util.OptionalDouble;
* information from various sources in a consistent way.
*/
public interface IAprilTagProvider {
/**
* A method to get the AprilTag offset from the center of the image. This is intended to be used with
* a PIDController, the PIDController keeps the robot rotated such that the AprilTag stays in the horizontal
* center of the image.
*
* TODO Is there some other way of ensuring an AprilTag is in the center of the image frame without knowing the horizontal resolution?
* TODO Certain providers don't give resolution information natively. Which makes me think there's some other way to do this.
*
* @param id The ID of the AprilTag to give an offset from
* @param cameraHalfXRes Half of the horizontal resolution of the camera sensor
* @return A double with the number of pixels offset from center the tag is, or OptionalDouble.empty() if the tag is not present in the camera's view
*/
public OptionalDouble getTagOffsetFromCameraCenterByID(int id, double cameraHalfXRes);
/**
* A method to get the distance from <i>the camera</i> to the AprilTag specified
*
@ -31,18 +17,18 @@ public interface IAprilTagProvider {
public OptionalDouble getTagDistanceFromCameraByID(int id, double targetHeightMeters);
/**
* A method to get the pitch of a particular AprilTag
* A method to get the pitch from the center of the image of a particular AprilTag
*
* @param id The ID of the AprilTag to get the pitch of
* @return The pitch, in radians, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
* @return The pitch, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
*/
public OptionalDouble getTagPitchByID(int id);
/**
* A method to get the yaw of a particular AprilTag
* A method to get the yaw from the center of the image of a particular AprilTag
*
* @param id The ID of the AprilTag to get the yaw of
* @return The yaw, in radians, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
* @return The yaw, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
*/
public OptionalDouble getTagYawByID(int id);
}

6
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -330,13 +330,13 @@ public class Drivetrain extends SubsystemBase {
return new PIDCommand(
controller,
() -> {
OptionalDouble tagOffset = m_aprilTagProvider.getTagOffsetFromCameraCenterByID(tagID, cameraHorizontalResolution);
OptionalDouble tagYaw = m_aprilTagProvider.getTagYawByID(tagID);
if (tagOffset.isEmpty()) {
if (tagYaw.isEmpty()) {
return 0;
}
return tagOffset.getAsDouble();
return tagYaw.getAsDouble();
},
() -> { return 0; },
(output) -> {

21
src/main/java/frc/robot/utilities/PhotonVision.java
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@ -78,27 +78,6 @@ public class PhotonVision implements ICamera,IAprilTagProvider,IVisualPoseProvid
);
}
@Override
public OptionalDouble getTagOffsetFromCameraCenterByID(int id, double cameraHalfXRes) {
PhotonPipelineResult result = camera.getLatestResult();
if (!result.hasTargets()) {
return OptionalDouble.empty();
}
Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(result.getTargets(), id);
if (desiredTarget.isEmpty()) {
return OptionalDouble.empty();
}
List<TargetCorner> corners = desiredTarget.get().getDetectedCorners();
return OptionalDouble.of(
corners.get(2).x - corners.get(3).x - cameraHalfXRes
);
}
@Override
public OptionalDouble getTagDistanceFromCameraByID(int id, double targetHeightMeters) {
PhotonPipelineResult result = camera.getLatestResult();