54 update vision files #59
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First commit of this branch worked on for the vision branch
Mostly documentation with some building of AlignToVisionTarget
Build a format for changes on the coming vision file: with inspiration from 2024 code, 2025 vision commands will have similar functions but more related to reef alignment Any changes to AlignToVisionTarget are discontinued and will be worked out and only used as a rudimentary guide to building configs and PIDcontrollers in vision.java Future: Maybe plans to include alignment to cage? or alignment to source/human player coral station (hpcs)? Co-Authored-By: marcjuguilon <[email protected]>
Seperated the four main configs for Vision: Config (Command Config)- used to build each seperate command's PID command values and offsets VisionStates Commands- commands used directly into vision states Vision Commands- built to send commands between Vision commands, basically a transit between config methods and Vision Command
the method currently being built will replace the original PID command with a similar functionality Co-Authored-By: marcjuguilon <[email protected]>
Started working on building the execute command used for alignToVision Reorganized alignToVisionTarget P.S. mostly finalized changes for the night Co-Authored-By: marcjuguilon <[email protected]>
cleaning up this method/class since it doesn't seem worthwhile
Vision.java renamed left limelight to front limelight Building getDistanceToReeffromRobot()- this method is subject to change. the method essentially checks the tag id of the given tag that a limelight sees and checks it with its own list to validate the given tag(s) seen and returns an array of those distances. Building cloesestReefFace- gets the cloesest reef face to the robot angleBetweenRobotandReefFace- method that gets the theta value using pose estimation between robot pose and pose of the given tag id Field.java- added the tag id's (based on blue field) to each reef faces given tag id VisionSystem.java- built to test some cameras, probably will discontinue these changes on this file but it still exists Co-Authored-By: marcjuguilon <[email protected]>
getAdjustedReefPosition- returns the method for theta so that the next return to alignToReef alignToReef- method that sends a swervecommand (WIP) witht he given theta value from getAdjustedReefPoisition
Should be finished for right now but Limelight isn't connecting for testing purposes From Marc: WIll read new documentation
SwerveStates here can be reviewed before the pull request as a means of more fluidity between this branch and main.
Closed
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Not building currently, working on fixing the error @marcjuguilon Edit: Fixed |
a semicolon was missing... Also commented out different fudges since they're most likely not to be used later but more like a reminder if needed to add. Co-Authored-By: marcjuguilon <[email protected]>
Currently testing the detection of RawFiducials on limelight Progress: the limelight can detect the tags but the periodic is experiencing an exception error, will need to solve soon P.S. this framework is running out of battery Co-Authored-By: marcjuguilon <[email protected]>
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Working on issue currently, @marcjuguilon Edit: Fixed |
Changes angle to reefs depending on the tag detected, there should never be enough distance from the vision to see the tags
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The swerve command still has to be teste, currently called VisionAim on pilot.java and SwerveStates.java. @marcjuguilon |
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Most of the branch here is due for testing on the robot and some things need to be adjusted in relation to vision alignment, PID tuning, and cleaning up the files: Vision.java, VisionStates.java, and for Swerve.java. In regard to visionsystem.java, most likely will be unused due to limelights already installed on the robot.
Goals:
VisionLogging in its own file to save space from the main Vision.java file
Calculation functions at the bottom subject to change
Using vision to send data to SwerveStates for values of the drivetrain to turn to
Significant testing needed
From,
@marcjuguilon