Team_2648/2025_Robot_Code
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shuffleboard layout for apriltag tab

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Team 2648 2025-03-14 00:14:54 -04:00
parent d85683377b
commit 945747778b
2 changed files with 32 additions and 16 deletions
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35
src/main/java/frc/robot/RobotContainer.java
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@ -321,17 +321,34 @@ public class RobotContainer {
//sensorTab.add("odometry", drivetrain::getPose); //sensorTab.add("odometry", drivetrain::getPose);
apriltagTab.addDouble("Orange ID", () -> drivetrain.vision.getOrangeClosestTag()); apriltagTab.addDouble("Orange ID", () -> drivetrain.vision.getOrangeClosestTag())
apriltagTab.addDouble("Orange tx", () -> drivetrain.vision.getOrangeTX()); .withSize(1,1).withPosition(1,1);
apriltagTab.addDouble("Orange ty", () -> drivetrain.vision.getOrangeTY()); apriltagTab.addDouble("Orange tx", () -> drivetrain.vision.getOrangeTX())
apriltagTab.addDouble("Orange dist", () -> drivetrain.vision.getOrangeDist()); .withSize(2,1).withPosition(2,1);
apriltagTab.addDouble("global x", () -> drivetrain.vision.getOrangeGlobalPose(drivetrain.getGyroBuffer()).getX()); apriltagTab.addDouble("Orange ty", () -> drivetrain.vision.getOrangeTY())
apriltagTab.addDouble("global y", () -> drivetrain.vision.getOrangeGlobalPose(drivetrain.getGyroBuffer()).getY()); .withSize(3,1).withPosition(3,1);
apriltagTab.addDouble("closest tag", () -> drivetrain.getClosestTag()); apriltagTab.addDouble("Orange dist", () -> drivetrain.vision.getOrangeDist())
apriltagTab.addDouble("orange fps", () -> drivetrain.vision.getOrangeFPS()); .withSize(4,1).withPosition(4,1);
apriltagTab.addDouble("orange fps", () -> drivetrain.vision.getOrangeFPS())
.withSize(6,1).withPosition(5,1);
apriltagTab.addBoolean("orange detected", () -> drivetrain.vision.getOrangeTagDetected())
.withSize(7,1).withPosition(6,1);
// sensorTab.addDouble(" ID", vision::getOrangeClosestTag); apriltagTab.addDouble("Black ID", () -> drivetrain.vision.getBlackClosestTag())
.withSize(1,1).withPosition(1,2);
apriltagTab.addDouble("Black tx", () -> drivetrain.vision.getBlackTX())
.withSize(1,1).withPosition(2,2);
apriltagTab.addDouble("Black ty", () -> drivetrain.vision.getBlackTY())
.withSize(1,1).withPosition(3,2);
apriltagTab.addDouble("Black dist", () -> drivetrain.vision.getBlackDist())
.withSize(1,1).withPosition(4,2);
apriltagTab.addDouble("Black fps", () -> drivetrain.vision.getBlackFPS())
.withSize(1,1).withPosition(5,2);
apriltagTab.addBoolean("Black detected", () -> drivetrain.vision.getBlackTagDetected())
.withSize(1,1).withPosition(6,2);
apriltagTab.addDouble("Closest tag", () -> drivetrain.getClosestTag())
.withSize(1,1).withPosition(4,4);
} }

13
src/main/java/frc/robot/subsystems/Drivetrain.java
View File

@ -211,8 +211,6 @@ public class Drivetrain extends SubsystemBase {
} }
Logger.recordOutput("black pose", new Pose3d(blackPose2d)); 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()));
if(musicTimer.get()>10){ if(musicTimer.get()>10){
@ -259,11 +257,12 @@ public class Drivetrain extends SubsystemBase {
public void resetOdometry(Pose2d pose) { public void resetOdometry(Pose2d pose) {
m_estimator.resetPosition( m_estimator.resetPosition(
Rotation2d.fromDegrees(getGyroValue()), Rotation2d.fromDegrees(getGyroValue()),
new SwerveModulePosition[] { new SwerveModulePosition[] {
m_frontLeft.getPosition(), m_frontLeft.getPosition(),
m_frontRight.getPosition(), m_frontRight.getPosition(),
m_rearLeft.getPosition(), m_rearLeft.getPosition(),
m_rearRight.getPosition()}, m_rearRight.getPosition()
},
pose pose
); );
} }