VisionSubsystem Class Reference

#include <vision_subsystem.h>

Inheritance diagram for VisionSubsystem:

Public Member Functions
	VisionSubsystem (const argos_lib::RobotInstance instance, SwerveDriveSubsystem *pDriveSubsystem)
std::optional< units::degree_t >	GetOffsetToTarget (LimelightTarget::tValues target)
	Get the offset to the center of the target.
LimelightTarget::tValues	GetCameraTargetValues ()
	Get the robot poses and latencies.
std::optional< units::degree_t >	GetHorizontalOffsetToTarget ()
	Get the current offset to the retroreflective tape.
std::optional< units::inch_t >	GetDistanceToPoleTape ()
	Get the longitudinal distance to the retroreflective tape.
void	SetReflectiveVisionMode (bool mode)
bool	AimToPlaceCone ()
void	RequestFilterReset ()
void	Periodic () override
void	Disable ()
	it disables (duh)

Public Attributes
LimelightTarget::tValues	m_oldTargetValues
	Get the old robot poses and latencies.

Private Attributes
CameraInterface	m_cameraInterface
	Interface to limelight camera.
argos_lib::RobotInstance	m_instance
	Contains either the competition bot or practice bot. Differentiates between the two.
SwerveDriveSubsystem *	m_pDriveSubsystem
	Pointer to drivetrain for reading some odometry.

Constructor & Destructor Documentation

VisionSubsystem()

VisionSubsystem::VisionSubsystem	(	const argos_lib::RobotInstance	instance,
		SwerveDriveSubsystem *	pDriveSubsystem
	)

Member Function Documentation

AimToPlaceCone()

bool VisionSubsystem::AimToPlaceCone

(

)

Todo:

deprecate?

Disable()

void VisionSubsystem::Disable

(

)

it disables (duh)

GetCameraTargetValues()

LimelightTarget::tValues VisionSubsystem::GetCameraTargetValues

(

)

Get the robot poses and latencies.

Returns

LimelightTarget::tValues

GetDistanceToPoleTape()

std::optional< units::inch_t > VisionSubsystem::GetDistanceToPoleTape

(

)

Get the longitudinal distance to the retroreflective tape.

Note

For now assume we are always seeing the lower pole

Returns

units::inch_t

GetHorizontalOffsetToTarget()

std::optional< units::degree_t > VisionSubsystem::GetHorizontalOffsetToTarget

(

)

Get the current offset to the retroreflective tape.

Returns

units::degree_t

GetOffsetToTarget()

std::optional< units::degree_t > VisionSubsystem::GetOffsetToTarget

(

LimelightTarget::tValues

target

)

Get the offset to the center of the target.

Parameters

target

Target to aim toward

Returns

Desired offset.

Periodic()

void VisionSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

RequestFilterReset()

void VisionSubsystem::RequestFilterReset

(

)

SetReflectiveVisionMode()

void VisionSubsystem::SetReflectiveVisionMode

(

bool

mode

)

Member Data Documentation

m_cameraInterface

CameraInterface VisionSubsystem::m_cameraInterface

private

Interface to limelight camera.

m_instance

argos_lib::RobotInstance VisionSubsystem::m_instance

private

Contains either the competition bot or practice bot. Differentiates between the two.

m_oldTargetValues

LimelightTarget::tValues VisionSubsystem::m_oldTargetValues

Get the old robot poses and latencies.

Returns

LimelightTarget::tValues

m_pDriveSubsystem

SwerveDriveSubsystem* VisionSubsystem::m_pDriveSubsystem

private

Pointer to drivetrain for reading some odometry.

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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