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)
LimelightTarget::tValues	GetLeftCameraTargetValues ()
	Get the robot poses and latencies from left camera.
LimelightTarget::tValues	GetRightCameraTargetValues ()
	Get the robot poses and latencies from right camera.
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)
std::optional< LimelightTarget::tValues >	GetSeeingCamera (bool resample=false)
std::optional< ActiveVisionTarget >	getWhichCamera (bool resample=true)
std::optional< whichCamera >	getLatestReefSide ()
std::optional< frc::Pose2d >	GetClosestReefTagPoseInCamSpace (bool resample=false)
std::optional< frc::Translation2d >	GetFieldCentricReefAlignmentError (bool resample=false)
std::optional< frc::Translation2d >	GetRobotSpaceReefAlignmentError (bool resample=false)
std::optional< units::degree_t >	GetOrientationCorrection (bool resample=false)
void	SetLeftAlign (bool val)
void	SetRightAlign (bool val)
void	SetAlgaeAlign (bool val)
bool	LeftAlignmentRequested ()
bool	RightAlignmentRequested ()
bool	AlgaeAlignmentRequested ()
void	SetL1Active (bool val)
bool	isL1Active ()
void	SetAlgaeModeActive (bool val)
bool	isAlgaeModeActive ()
bool	robotAligned (bool resample=true)
std::optional< unitlessChassisSpeeds >	getVisionAlignmentSpeeds (double scalingFactor=1.0)

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

Private Attributes
const std::string	leftCameraTableName = "/limelight-left"
const std::string	rightCameraTableName = "/limelight-right"
CameraInterface	m_cameraInterface
	Interface to limelight camera.
std::shared_ptr< nt::NetworkTable >	m_leftCameraTable
	Cached NetworkTable pointer for left camera.
std::shared_ptr< nt::NetworkTable >	m_rightCameraTable
	Cached NetworkTable pointer for right 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.
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
bool	m_isLeftAlignActive
	true if left alignment is requested
bool	m_isRightAlignActive
	true if right alignment is requested
bool	m_isAlgaeAlignActive
	true if algae alignment is requested
bool	m_isL1Active
	true if L1 is active
bool	m_isAlgaeModeActive
	true if algae mode is active
bool	m_isRotationGoodEnough
	true if robot rotation is good per alignment
int	m_latestLeftHeartbeat
int	m_latestRightHeartbeat
ActiveVisionTarget	m_activeVisionTarget
argos_lib::Debouncer	m_leftFresh
argos_lib::Debouncer	m_rightFresh
std::optional< whichCamera >	m_latestReefSide
	Side of robot that most recently saw the reef.
std::chrono::steady_clock::time_point	m_latestReefSpotTime
	Time when reef was last seen by a camera.
argos_lib::NTSubscriber	m_leftCameraFrameUpdateSubscriber
	Subscriber to manage all updates from left camera.
argos_lib::NTSubscriber	m_rightCameraFrameUpdateSubscriber
	Subscriber to manage all updates from right camera.
std::jthread	m_yawUpdateThread
wpi::log::StructLogEntry< frc::Pose2d >	m_leftCameraMegaTag2PoseLogger
wpi::log::StructLogEntry< frc::Pose2d >	m_rightCameraMegaTag2PoseLogger

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 )

Todo

Get good odometry from vision

Todo

Get good odometry from vision

Member Function Documentation

AlgaeAlignmentRequested()

bool VisionSubsystem::AlgaeAlignmentRequested ( )

nodiscard

Disable()

void VisionSubsystem::Disable

(

)

it disables (duh)

GetClosestReefTagPoseInCamSpace()

std::optional< frc::Pose2d > VisionSubsystem::GetClosestReefTagPoseInCamSpace

(

bool

resample = false

)

GetFieldCentricReefAlignmentError()

std::optional< frc::Translation2d > VisionSubsystem::GetFieldCentricReefAlignmentError

(

bool

resample = false

)

getLatestReefSide()

std::optional< whichCamera > VisionSubsystem::getLatestReefSide

(

)

GetLeftCameraTargetValues()

LimelightTarget::tValues VisionSubsystem::GetLeftCameraTargetValues ( )

nodiscard

Get the robot poses and latencies from left camera.

Returns

LimelightTarget::tValues

GetOrientationCorrection()

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

(

bool

resample = false

)

GetRightCameraTargetValues()

LimelightTarget::tValues VisionSubsystem::GetRightCameraTargetValues ( )

nodiscard

Get the robot poses and latencies from right camera.

Returns

LimelightTarget::tValues

GetRobotSpaceReefAlignmentError()

std::optional< frc::Translation2d > VisionSubsystem::GetRobotSpaceReefAlignmentError

(

bool

resample = false

)

GetSeeingCamera()

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

(

bool

resample = false

)

getVisionAlignmentSpeeds()

std::optional< unitlessChassisSpeeds > VisionSubsystem::getVisionAlignmentSpeeds ( double scalingFactor = 1.0 )

nodiscard

getWhichCamera()

std::optional< ActiveVisionTarget > VisionSubsystem::getWhichCamera

(

bool

resample = true

)

IsAimWhileMoveActive()

bool VisionSubsystem::IsAimWhileMoveActive ( )

nodiscard

isAlgaeModeActive()

bool VisionSubsystem::isAlgaeModeActive ( )

nodiscard

isL1Active()

bool VisionSubsystem::isL1Active ( )

nodiscard

IsOdometryAimingActive()

bool VisionSubsystem::IsOdometryAimingActive ( )

nodiscard

IsStaticRotationEnabled()

bool VisionSubsystem::IsStaticRotationEnabled ( )

nodiscard

LeftAlignmentRequested()

bool VisionSubsystem::LeftAlignmentRequested ( )

nodiscard

Periodic()

void VisionSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

RequestFilterReset()

void VisionSubsystem::RequestFilterReset

(

)

RightAlignmentRequested()

bool VisionSubsystem::RightAlignmentRequested ( )

nodiscard

robotAligned()

bool VisionSubsystem::robotAligned ( bool resample = true )

nodiscard

SetAimWhileMove()

void VisionSubsystem::SetAimWhileMove

(

bool

val

)

SetAlgaeAlign()

void VisionSubsystem::SetAlgaeAlign

(

bool

val

)

SetAlgaeModeActive()

void VisionSubsystem::SetAlgaeModeActive

(

bool

val

)

SetEnableStaticRotation()

void VisionSubsystem::SetEnableStaticRotation

(

bool

val

)

SetL1Active()

void VisionSubsystem::SetL1Active

(

bool

val

)

SetLeftAlign()

void VisionSubsystem::SetLeftAlign

(

bool

val

)

SetOdometryAiming()

void VisionSubsystem::SetOdometryAiming

(

bool

val

)

SetPipeline()

void VisionSubsystem::SetPipeline

(

uint16_t

tag

)

SetRightAlign()

void VisionSubsystem::SetRightAlign

(

bool

val

)

UpdateYaw()

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

private

Member Data Documentation

leftCameraTableName

const std::string VisionSubsystem::leftCameraTableName = "/limelight-left"

private

m_activeVisionTarget

ActiveVisionTarget VisionSubsystem::m_activeVisionTarget

private

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_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_isAlgaeAlignActive

bool VisionSubsystem::m_isAlgaeAlignActive

private

true if algae alignment is requested

m_isAlgaeModeActive

bool VisionSubsystem::m_isAlgaeModeActive

private

true if algae mode is active

m_isL1Active

bool VisionSubsystem::m_isL1Active

private

true if L1 is active

m_isLeftAlignActive

bool VisionSubsystem::m_isLeftAlignActive

private

true if left alignment is requested

m_isOdometryAimingActive

bool VisionSubsystem::m_isOdometryAimingActive

private

true if we want to aim without vision

m_isRightAlignActive

bool VisionSubsystem::m_isRightAlignActive

private

true if right alignment is requested

m_isRotationGoodEnough

bool VisionSubsystem::m_isRotationGoodEnough

private

true if robot rotation is good per alignment

m_latestLeftHeartbeat

int VisionSubsystem::m_latestLeftHeartbeat

private

m_latestReefSide

std::optional<whichCamera> VisionSubsystem::m_latestReefSide

private

Side of robot that most recently saw the reef.

m_latestReefSpotTime

std::chrono::steady_clock::time_point VisionSubsystem::m_latestReefSpotTime

private

Time when reef was last seen by a camera.

m_latestRightHeartbeat

int VisionSubsystem::m_latestRightHeartbeat

private

m_leftCameraFrameUpdateSubscriber

argos_lib::NTSubscriber VisionSubsystem::m_leftCameraFrameUpdateSubscriber

private

Subscriber to manage all updates from left camera.

m_leftCameraMegaTag2PoseLogger

wpi::log::StructLogEntry<frc::Pose2d> VisionSubsystem::m_leftCameraMegaTag2PoseLogger

private

m_leftCameraTable

std::shared_ptr<nt::NetworkTable> VisionSubsystem::m_leftCameraTable

private

Cached NetworkTable pointer for left camera.

m_leftFresh

argos_lib::Debouncer VisionSubsystem::m_leftFresh

private

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_rightCameraFrameUpdateSubscriber

argos_lib::NTSubscriber VisionSubsystem::m_rightCameraFrameUpdateSubscriber

private

Subscriber to manage all updates from right camera.

m_rightCameraMegaTag2PoseLogger

wpi::log::StructLogEntry<frc::Pose2d> VisionSubsystem::m_rightCameraMegaTag2PoseLogger

private

m_rightCameraTable

std::shared_ptr<nt::NetworkTable> VisionSubsystem::m_rightCameraTable

private

Cached NetworkTable pointer for right camera.

m_rightFresh

argos_lib::Debouncer VisionSubsystem::m_rightFresh

private

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

rightCameraTableName

const std::string VisionSubsystem::rightCameraTableName = "/limelight-right"

private

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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