Provides methods for interacting with the camera on a high level. More...

#include <shooter_subsystem.h>

Public Member Functions
	CameraInterface ()

std::optional< LimelightTarget >	GetHighestTarget ()
	Get the highest target the camera can see CAN RETURN NONE. More...

units::angle::degree_t	VerticalPixelToAngle (int pixels)
	Converts vertical pixels to degrees. More...

units::angle::degree_t	HorizontalPixelToAngle (int pixels)
	Converts horizontal pixels to degrees. More...

units::angle::degree_t	GetNewPitch (units::degree_t cx, units::degree_t cy, int bboxHorizontalPixels, int bboxVerticalPixels, units::degree_t skew)
	Gets the new pitch for the top of the target. More...

void	SetDriverMode (bool mode)
	Turns the camera's driver mode on and off. More...

Public Attributes
LimelightTarget	m_target
	object that holds the current target seen by the camera More...

Detailed Description

Provides methods for interacting with the camera on a high level.

Constructor & Destructor Documentation

◆ CameraInterface()

CameraInterface::CameraInterface ( )

Member Function Documentation

◆ GetHighestTarget()

std::optional< LimelightTarget > CameraInterface::GetHighestTarget ( )

Get the highest target the camera can see CAN RETURN NONE.

Returns: std::optional<photonlib::PhotonTrackedTarget>

◆ GetNewPitch()

units::angle::degree_t CameraInterface::GetNewPitch	(	units::degree_t	cx,
		units::degree_t	cy,
		int	bboxHorizontalPixels,
		int	bboxVerticalPixels,
		units::degree_t	skew
	)

Gets the new pitch for the top of the target.

Returns: Pitch degrees of the top of the target

◆ HorizontalPixelToAngle()

units::angle::degree_t CameraInterface::HorizontalPixelToAngle ( int pixels )

Converts horizontal pixels to degrees.

Returns: Degrees

◆ SetDriverMode()

void CameraInterface::SetDriverMode ( bool mode )

Turns the camera's driver mode on and off.

Parameters

mode	True is drive control. False is no drive control

◆ VerticalPixelToAngle()

units::angle::degree_t CameraInterface::VerticalPixelToAngle ( int pixels )

Converts vertical pixels to degrees.

Returns: Degrees

Member Data Documentation

◆ m_target

LimelightTarget CameraInterface::m_target

object that holds the current target seen by the camera

The documentation for this class was generated from the following files:

src/main/include/subsystems/shooter_subsystem.h
src/main/cpp/subsystems/shooter_subsystem.cpp

Public Member Functions

Public Attributes