LimelightTarget Class Reference

Wraps a limelight target in a usable object. More...

#include <shooter_subsystem.h>

Classes
struct	tValues
	Wraps members of LimelightTarget for use elsewhere. More...

Public Member Functions
	LimelightTarget ()=default
tValues	GetTarget ()
	Get the values of the camera's current target. More...
bool	HasTarget ()
	Does the camera see a target? More...
void	adjustPerspective (units::degree_t &currentPitch, const units::degree_t &currentYaw)
	Adjusts pitch based on the current yaw to correct the camera perspective. Perspective distortion polynomial determined empirically. More...

Private Attributes
units::degree_t	m_pitch
	Pitch of target relative to camera -20.5 to 20.5 degrees. More...
units::degree_t	m_yaw
	Yaw of target relative to camera -27 to 27 degrees. More...
double	m_bboxHor
	Longest edge of bounding box (horizontal in our case) in px. More...
double	m_bboxVer
	Shortest edge of bounding box (vertical in our case) in px. More...
units::degree_t	m_skew
	The skew or rotation -90 to 0 degrees. More...
bool	m_hasTargets
	True if the camera has a target it can read. More...
units::millisecond_t	m_pipelineLatency
	Pipeline latency contribution. More...

Static Private Attributes
static constexpr units::millisecond_t	m_miscLatency {11_ms}
	Any extra latency to account for. More...

Detailed Description

Wraps a limelight target in a usable object.

Copyright

Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Constructor & Destructor Documentation

LimelightTarget()

LimelightTarget::LimelightTarget ( )

default

Member Function Documentation

adjustPerspective()

void LimelightTarget::adjustPerspective	(	units::degree_t &	currentPitch,
		const units::degree_t &	currentYaw
	)

Adjusts pitch based on the current yaw to correct the camera perspective. Perspective distortion polynomial determined empirically.

Parameters

[in,out]	currentPitch	Pitch reported by camera; updated according to perspective distortion
[in]	currentYaw	Yaw reported by camera

GetTarget()

LimelightTarget::tValues LimelightTarget::GetTarget

(

)

Get the values of the camera's current target.

Returns

tValues

HasTarget()

bool LimelightTarget::HasTarget

(

)

Does the camera see a target?

Returns

true - The camera does see a target

false - The camera does not see a target

Member Data Documentation

m_bboxHor

double LimelightTarget::m_bboxHor

private

Longest edge of bounding box (horizontal in our case) in px.

m_bboxVer

double LimelightTarget::m_bboxVer

private

Shortest edge of bounding box (vertical in our case) in px.

m_hasTargets

bool LimelightTarget::m_hasTargets

private

True if the camera has a target it can read.

m_miscLatency

constexpr units::millisecond_t LimelightTarget::m_miscLatency {11_ms}

staticconstexprprivate

Any extra latency to account for.

m_pipelineLatency

units::millisecond_t LimelightTarget::m_pipelineLatency

private

Pipeline latency contribution.

m_pitch

units::degree_t LimelightTarget::m_pitch

private

Pitch of target relative to camera -20.5 to 20.5 degrees.

m_skew

units::degree_t LimelightTarget::m_skew

private

The skew or rotation -90 to 0 degrees.

m_yaw

units::degree_t LimelightTarget::m_yaw

private

Yaw of target relative to camera -27 to 27 degrees.

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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