Team_2648/2025_Robot_Code
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small constants change for vision

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Tylr-J42 2025-03-08 09:06:49 -05:00
parent 649660ade6
commit 66a9608006
2 changed files with 14 additions and 16 deletions
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2
src/main/java/frc/robot/constants/VisionConstants.java
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@ -59,4 +59,6 @@ public class VisionConstants {
{4.993, 2.816, 5.272, 2.996} {4.993, 2.816, 5.272, 2.996}
}; };
public static final double latencyFudgeFactor = 0;
} }

28
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -65,6 +65,7 @@ public class Drivetrain extends SubsystemBase {
public Vision vision; public Vision vision;
public Pose2d orangePose2d; public Pose2d orangePose2d;
public Pose2d blackPose2d;
/** Creates a new DriveSubsystem. */ /** Creates a new DriveSubsystem. */
public Drivetrain() { public Drivetrain() {
@ -148,6 +149,7 @@ public class Drivetrain extends SubsystemBase {
vision = new Vision(); vision = new Vision();
orangePose2d = new Pose2d(); orangePose2d = new Pose2d();
blackPose2d = new Pose2d();
} }
@Override @Override
@ -175,24 +177,18 @@ public class Drivetrain extends SubsystemBase {
m_estimator.addVisionMeasurement(orangePose2d, vision.getOrangeTimeStamp()); m_estimator.addVisionMeasurement(orangePose2d, vision.getOrangeTimeStamp());
} }
Logger.recordOutput("orange pose", new Pose3d()); Logger.recordOutput("orange pose", new Pose3d());
if(orangePose2d.equals(null)){
Logger.recordOutput("orange pose", new Pose3d());
}else{
Logger.recordOutput("orange pose", new Pose3d(orangePose2d));
}
Logger.recordOutput("fused robot pose", new Pose3d(m_estimator.getEstimatedPosition()));
} }
if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){ if(vision.getBlackTagDetected()){
Pose2d blackPose = vision.getBlackGlobalPose(gyroBuffer); if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){
Logger.recordOutput("black pose", new Pose3d(blackPose)); blackPose2d = vision.getBlackGlobalPose(gyroBuffer);
m_estimator.addVisionMeasurement(blackPose, vision.getBlackTimeStamp()); m_estimator.addVisionMeasurement(blackPose2d, vision.getBlackTimeStamp());
}else if(vision.getBlackClosestTag() >= 17 && vision.getBlackClosestTag() <= 22 && DriverStation.getAlliance().get().equals(Alliance.Blue) && vision.getBlackTagDetected()){ }else if(vision.getBlackClosestTag() >= 17 && vision.getBlackClosestTag() <= 22 && DriverStation.getAlliance().get().equals(Alliance.Blue) && vision.getBlackTagDetected()){
Pose2d blackPose = vision.getBlackGlobalPose(gyroBuffer); blackPose2d = vision.getBlackGlobalPose(gyroBuffer);
Logger.recordOutput("black pose", new Pose3d(blackPose)); m_estimator.addVisionMeasurement(blackPose2d, vision.getBlackTimeStamp());
m_estimator.addVisionMeasurement(blackPose, vision.getBlackTimeStamp()); }
Logger.recordOutput("black pose", new Pose3d(blackPose2d));
} }
Logger.recordOutput("robot pose", new Pose3d(m_estimator.getEstimatedPosition())); Logger.recordOutput("robot pose", new Pose3d(m_estimator.getEstimatedPosition()));
@ -309,7 +305,7 @@ public class Drivetrain extends SubsystemBase {
public int getClosestTag(){ public int getClosestTag(){
if(DriverStation.getAlliance().equals(DriverStation.Alliance.Blue)){ if(DriverStation.getAlliance().get().equals(DriverStation.Alliance.Blue)){
int closestTag = 17; int closestTag = 17;
double closestTagDist = Math.sqrt(Math.pow(getPose().getX()-VisionConstants.globalTagCoords[17][0], 2) double closestTagDist = Math.sqrt(Math.pow(getPose().getX()-VisionConstants.globalTagCoords[17][0], 2)
+ Math.pow(getPose().getY()-VisionConstants.globalTagCoords[17][1], 2)); + Math.pow(getPose().getY()-VisionConstants.globalTagCoords[17][1], 2));