VisionSubsystem Class Reference

#include <vision_subsystem.h>

Inheritance diagram for VisionSubsystem:

Public Types
enum class	InterpolationMode { LinearInterpolation , Polynomial , Trig }

Public Member Functions
	VisionSubsystem (const argos_lib::RobotInstance instance, SwerveDriveSubsystem *pDriveSubsystem, ShooterSubsystem *pShooterSubsytem)
std::optional< units::inch_t >	GetDistanceToSpeaker ()
	Get the distance to the tag.
std::optional< units::degree_t >	GetOrientationToSpeaker ()
	Get the distance to the tag.
std::optional< units::inch_t >	GetCalculatedDistanceToSpeaker ()
	Get the distance to the tag calculated with the Ty (vertical offset)
LimelightTarget::tValues	GetPrimaryCameraTargetValues ()
	Get the robot poses and latencies.
LimelightTarget::tValues	GetSecondaryCameraTargetValues ()
	Get the robot poses and latencies from secondary camera.
std::optional< units::degree_t >	GetHorizontalOffsetToTarget ()
	Get the current offset to the retroreflective tape.
void	SetPipeline (uint16_t tag)
void	RequestFilterReset ()
void	SetAimWhileMove (bool val)
bool	IsAimWhileMoveActive ()
void	SetOdometryAiming (bool val)
bool	IsOdometryAimingActive ()
void	SetEnableStaticRotation (bool val)
bool	IsStaticRotationEnabled ()
void	Periodic () override
void	Disable ()
	it disables (duh)
units::degree_t	getShooterAngle (units::inch_t distance, const InterpolationMode mode)
std::optional< units::degree_t >	getShooterAngle ()
std::optional< units::degree_t >	getShooterOffset ()
units::degree_t	getFeederAngle ()
std::optional< units::degree_t >	getFeederOffset ()
std::optional< units::degree_t >	getShooterAngleWithInertia (double medialSpeedPct)
std::optional< double >	getRotationSpeedWithInertia (double lateralSpeedPct)
std::optional< units::degree_t >	getFeederAngleWithInertia (double medialSpeedPct)
std::optional< double >	getFeedOffsetWithInertia (double lateralSpeedPct)
units::angular_velocity::revolutions_per_minute_t	getShooterSpeed (const units::inch_t distance, const InterpolationMode mode) const
std::optional< units::angular_velocity::revolutions_per_minute_t >	getShooterSpeed ()
std::optional< units::inch_t >	GetDistanceToTrap ()
std::optional< units::inch_t >	GetDistanceToStageCenter ()
std::optional< units::degree_t >	GetHorizontalOffsetToTrap ()
std::optional< units::degree_t >	GetOrientationToTrap ()
std::optional< whichCamera >	getWhichCamera (bool forFeeder=false)
std::optional< LimelightTarget::tValues >	GetSeeingCamera (bool forFeeder=false)

Private Member Functions
void	UpdateYaw (std::stop_token stopToken)

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.
ShooterSubsystem *	m_pShooterSubsystem
	Pointer to shooter subsystem for reading aiming mode.
LimelightTarget::tValues	m_oldTargetValues
	The old robot poses and latencies.
bool	m_usePolynomial
	specifies whether to use the polynomial to obtain shooter angle
bool	m_useTrigonometry
	specifies whether to use the trigonometry to obtain shooter angle
bool	m_isAimWhileMoveActive
	true if aiming trigger is pressed and locked
bool	m_enableStaticRotation
	true if you want to rotate in the absence of translation input
bool	m_isOdometryAimingActive
	true if we want to aim without vision
argos_lib::InterpolationMap< decltype(shooterRange::shooterAngle.front().inVal), shooterRange::shooterAngle.size(), decltype(shooterRange::shooterAngle.front().outVal)>	m_shooterAngleMap
	Maps a distance to a shooter pitch angle.
argos_lib::InterpolationMap< decltype(shooterRange::shooterSpeed.front().inVal), shooterRange::shooterSpeed.size(), decltype(shooterRange::shooterSpeed.front().outVal)>	m_shooterSpeedMap
	Maps a distance to a shooter speed.
argos_lib::InterpolationMap< decltype(shooterRange::feederAngle.front().inVal), shooterRange::feederAngle.size(), decltype(shooterRange::feederAngle.front().outVal)>	m_feederAngleMap
	Maps a distance to a feeder pitch angle.
argos_lib::NTSubscriber	m_primaryCameraFrameUpdateSubscriber
	Subscriber to manage all updates from primary camera.
argos_lib::NTSubscriber	m_secondaryCameraFrameUpdateSubscriber
	Subscriber to manage all updates from secondary camera.
std::jthread	m_yawUpdateThread
wpi::log::StructLogEntry< frc::Pose2d >	m_frontCameraMegaTag2PoseLogger
wpi::log::StructLogEntry< frc::Pose2d >	m_rearCameraMegaTag2PoseLogger

Static Private Attributes
static constexpr char	primaryCameraTableName [12] {"/limelight"}
static constexpr char	secondaryCameraTableName [18] {"/limelight-front"}

Member Enumeration Documentation

InterpolationMode

enum class VisionSubsystem::InterpolationMode

strong

Enumerator
LinearInterpolation
Polynomial
Trig

Constructor & Destructor Documentation

VisionSubsystem()

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

Member Function Documentation

Disable()

void VisionSubsystem::Disable

(

)

it disables (duh)

GetCalculatedDistanceToSpeaker()

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

(

)

Get the distance to the tag calculated with the Ty (vertical offset)

Returns

Desired distance in inches.

GetDistanceToSpeaker()

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

(

)

Get the distance to the tag.

Returns

Desired distance in inches.

GetDistanceToStageCenter()

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

(

)

GetDistanceToTrap()

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

(

)

getFeederAngle()

units::degree_t VisionSubsystem::getFeederAngle

(

)

getFeederAngleWithInertia()

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

(

double

medialSpeedPct

)

getFeederOffset()

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

(

)

getFeedOffsetWithInertia()

std::optional< double > VisionSubsystem::getFeedOffsetWithInertia

(

double

lateralSpeedPct

)

GetHorizontalOffsetToTarget()

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

(

)

Get the current offset to the retroreflective tape.

Returns

units::degree_t

GetHorizontalOffsetToTrap()

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

(

)

GetOrientationToSpeaker()

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

(

)

Get the distance to the tag.

Returns

Desired distance in inches.

GetOrientationToTrap()

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

(

)

GetPrimaryCameraTargetValues()

LimelightTarget::tValues VisionSubsystem::GetPrimaryCameraTargetValues

(

)

Get the robot poses and latencies.

Returns

LimelightTarget::tValues

getRotationSpeedWithInertia()

std::optional< double > VisionSubsystem::getRotationSpeedWithInertia

(

double

lateralSpeedPct

)

GetSecondaryCameraTargetValues()

LimelightTarget::tValues VisionSubsystem::GetSecondaryCameraTargetValues

(

)

Get the robot poses and latencies from secondary camera.

Returns

LimelightTarget::tValues

GetSeeingCamera()

std::optional< LimelightTarget::tValues > VisionSubsystem::GetSeeingCamera

(

bool

forFeeder = false

)

getShooterAngle() [1/2]

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

(

)

getShooterAngle() [2/2]

units::degree_t VisionSubsystem::getShooterAngle	(	units::inch_t	distance,
		const InterpolationMode	mode
	)

getShooterAngleWithInertia()

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

(

double

medialSpeedPct

)

getShooterOffset()

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

(

)

getShooterSpeed() [1/2]

std::optional< units::angular_velocity::revolutions_per_minute_t > VisionSubsystem::getShooterSpeed

(

)

getShooterSpeed() [2/2]

units::angular_velocity::revolutions_per_minute_t VisionSubsystem::getShooterSpeed	(	const units::inch_t	distance,
		const InterpolationMode	mode
	)		const

getWhichCamera()

std::optional< whichCamera > VisionSubsystem::getWhichCamera

(

bool

forFeeder = false

)

IsAimWhileMoveActive()

bool VisionSubsystem::IsAimWhileMoveActive

(

)

IsOdometryAimingActive()

bool VisionSubsystem::IsOdometryAimingActive

(

)

IsStaticRotationEnabled()

bool VisionSubsystem::IsStaticRotationEnabled

(

)

Periodic()

void VisionSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

RequestFilterReset()

void VisionSubsystem::RequestFilterReset

(

)

SetAimWhileMove()

void VisionSubsystem::SetAimWhileMove

(

bool

val

)

SetEnableStaticRotation()

void VisionSubsystem::SetEnableStaticRotation

(

bool

val

)

SetOdometryAiming()

void VisionSubsystem::SetOdometryAiming

(

bool

val

)

SetPipeline()

void VisionSubsystem::SetPipeline

(

uint16_t

tag

)

UpdateYaw()

void VisionSubsystem::UpdateYaw ( std::stop_token  stopToken )

private

Member Data Documentation

m_cameraInterface

CameraInterface VisionSubsystem::m_cameraInterface

private

Interface to limelight camera.

m_enableStaticRotation

bool VisionSubsystem::m_enableStaticRotation

private

true if you want to rotate in the absence of translation input

m_feederAngleMap

argos_lib::InterpolationMap<decltype(shooterRange::feederAngle.front().inVal), shooterRange::feederAngle.size(), decltype(shooterRange::feederAngle.front().outVal)> VisionSubsystem::m_feederAngleMap

private

Maps a distance to a feeder pitch angle.

m_frontCameraMegaTag2PoseLogger

wpi::log::StructLogEntry<frc::Pose2d> VisionSubsystem::m_frontCameraMegaTag2PoseLogger

private

m_instance

argos_lib::RobotInstance VisionSubsystem::m_instance

private

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

m_isAimWhileMoveActive

bool VisionSubsystem::m_isAimWhileMoveActive

private

true if aiming trigger is pressed and locked

m_isOdometryAimingActive

bool VisionSubsystem::m_isOdometryAimingActive

private

true if we want to aim without vision

m_oldTargetValues

LimelightTarget::tValues VisionSubsystem::m_oldTargetValues

private

The old robot poses and latencies.

m_pDriveSubsystem

SwerveDriveSubsystem* VisionSubsystem::m_pDriveSubsystem

private

Pointer to drivetrain for reading some odometry.

m_primaryCameraFrameUpdateSubscriber

argos_lib::NTSubscriber VisionSubsystem::m_primaryCameraFrameUpdateSubscriber

private

Subscriber to manage all updates from primary camera.

m_pShooterSubsystem

ShooterSubsystem* VisionSubsystem::m_pShooterSubsystem

private

Pointer to shooter subsystem for reading aiming mode.

m_rearCameraMegaTag2PoseLogger

wpi::log::StructLogEntry<frc::Pose2d> VisionSubsystem::m_rearCameraMegaTag2PoseLogger

private

m_secondaryCameraFrameUpdateSubscriber

argos_lib::NTSubscriber VisionSubsystem::m_secondaryCameraFrameUpdateSubscriber

private

Subscriber to manage all updates from secondary camera.

m_shooterAngleMap

argos_lib::InterpolationMap<decltype(shooterRange::shooterAngle.front().inVal), shooterRange::shooterAngle.size(), decltype(shooterRange::shooterAngle.front().outVal)> VisionSubsystem::m_shooterAngleMap

private

Maps a distance to a shooter pitch angle.

m_shooterSpeedMap

argos_lib::InterpolationMap<decltype(shooterRange::shooterSpeed.front().inVal), shooterRange::shooterSpeed.size(), decltype(shooterRange::shooterSpeed.front().outVal)> VisionSubsystem::m_shooterSpeedMap

private

Maps a distance to a shooter speed.

m_usePolynomial

bool VisionSubsystem::m_usePolynomial

private

specifies whether to use the polynomial to obtain shooter angle

m_useTrigonometry

bool VisionSubsystem::m_useTrigonometry

private

specifies whether to use the trigonometry to obtain shooter angle

m_yawUpdateThread

std::jthread VisionSubsystem::m_yawUpdateThread

private

primaryCameraTableName

constexpr char VisionSubsystem::primaryCameraTableName[12] {"/limelight"}

staticconstexprprivate

secondaryCameraTableName

constexpr char VisionSubsystem::secondaryCameraTableName[18] {"/limelight-front"}

staticconstexprprivate

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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