LimelightTarget Class Reference

#include <vision_subsystem.h>

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

Public Member Functions
	LimelightTarget ()
tValues	GetTarget (bool filter)
	Get the values of the camera's current target.
bool	HasTarget ()
	Does the camera see a target?
void	ResetFilters ()
void	ResetOnNextTarget ()

Private Attributes
frc::Pose3d	m_robotPose
	3d pose of robot relative to field center
frc::Pose3d	m_robotPoseWPI
	3d pose of robot relative to WPI reference for active alliance
frc::Pose3d	m_robotPoseTagSpace
	3d pose of robot relative to primary april tag (biggest?)
bool	m_hasTargets
	True if the camera has a target it can read.
units::degree_t	m_pitch
	Pitch of target relative to camera -24.85 to 24.85 degrees.
units::degree_t	m_yaw
	Yaw of target relative to camera -31.65 to 31.65 degrees.
double	m_area
	Area of the target in percentage of total pixels.
units::millisecond_t	m_totalLatency
	Total latency.
frc::LinearFilter< units::degree_t >	m_txFilter
frc::LinearFilter< units::degree_t >	m_tyFilter
bool	m_resetFilterFlag

Detailed Description

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 ( )

inline

Member Function Documentation

GetTarget()

LimelightTarget::tValues LimelightTarget::GetTarget

(

bool

filter

)

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

ResetFilters()

void LimelightTarget::ResetFilters

(

)

ResetOnNextTarget()

void LimelightTarget::ResetOnNextTarget

(

)

Member Data Documentation

m_area

double LimelightTarget::m_area

private

Area of the target in percentage of total pixels.

m_hasTargets

bool LimelightTarget::m_hasTargets

private

True if the camera has a target it can read.

m_pitch

units::degree_t LimelightTarget::m_pitch

private

Pitch of target relative to camera -24.85 to 24.85 degrees.

m_resetFilterFlag

bool LimelightTarget::m_resetFilterFlag

private

m_robotPose

frc::Pose3d LimelightTarget::m_robotPose

private

3d pose of robot relative to field center

m_robotPoseTagSpace

frc::Pose3d LimelightTarget::m_robotPoseTagSpace

private

3d pose of robot relative to primary april tag (biggest?)

m_robotPoseWPI

frc::Pose3d LimelightTarget::m_robotPoseWPI

private

3d pose of robot relative to WPI reference for active alliance

m_totalLatency

units::millisecond_t LimelightTarget::m_totalLatency

private

Total latency.

m_txFilter

frc::LinearFilter<units::degree_t> LimelightTarget::m_txFilter

private

m_tyFilter

frc::LinearFilter<units::degree_t> LimelightTarget::m_tyFilter

private

m_yaw

units::degree_t LimelightTarget::m_yaw

private

Yaw of target relative to camera -31.65 to 31.65 degrees.

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

• src/main/include/subsystems/vision_subsystem.h
• src/main/cpp/subsystems/vision_subsytem.cpp