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photonlib incompatible
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@deBrian07
deBrian07 committed Jan 12, 2025
1 parent b834e53 commit 0128c90
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Showing 2 changed files with 74 additions and 86 deletions.
56 changes: 29 additions & 27 deletions src/main/java/frc/robot/Subsystems/Vision/Vision.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
import edu.wpi.first.networktables.StructPublisher;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

Expand Down Expand Up @@ -57,9 +58,9 @@ public Vision() {
adv_targetPub = adv_vision.getStructArrayTopic("Target", Pose3d.struct).publish();
adv_trackedPub = adv_vision.getStructTopic("Tracked", Pose3d.struct).publish();

m_photonTagCamera = new PhotonCamera("OV9281");
m_photonTagCamera = new PhotonCamera("Arducam_OV9281_USB_Camera");

m_pose = new Pose3d(12.5, 0, 0, new Rotation3d());
m_pose = new Pose3d(0, 0, 0, new Rotation3d());

AprilTagFieldLayout aprilTagFieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape);

Expand All @@ -70,11 +71,12 @@ public Vision() {
@Override
public void periodic() {
count++;

SmartDashboard.putNumber("vibe check", Math.random());
var photonResult = m_photonTagCamera.getAllUnreadResults().get(0);
if (photonResult.hasTargets()){
var update = m_photonPoseEstimator.update(photonResult);
if (update.isPresent()){
SmartDashboard.putNumber("vibe check 2", Math.random());
m_pose = update.get().estimatedPose;
if (Math.abs(m_pose.getZ()) < 1){
m_photonPoseEstimator.setReferencePose(m_pose);
Expand All @@ -86,31 +88,31 @@ public void periodic() {
}
}

// smart cropping:
LimelightResults limelightResult = LimelightHelpers.getLatestResults("");
if(limelightResult.valid){
double tag_x = LimelightHelpers.getTX("");
double tag_y = LimelightHelpers.getTY("");
// dynamic cropping
// if(tag_x >=-0.83 && tag_x <=0.07){
// LimelightHelpers.setPipelineIndex("", 1);
// }else if (tag_x >=-0.63 && tag_x <=0.27) {
// LimelightHelpers.setPipelineIndex("", 2);
// }else if (tag_x >=-0.43 && tag_x <=0.47) {
// LimelightHelpers.setPipelineIndex("", 3);
// }else if (tag_x >=-0.23 && tag_x <=0.67) {
// LimelightHelpers.setPipelineIndex("", 4);
// }else if (tag_x >=-0.03 && tag_x <=0.87) {
// LimelightHelpers.setPipelineIndex("", 5);
// }
// // smart cropping:
// LimelightResults limelightResult = LimelightHelpers.getLatestResults("");
// if(limelightResult.valid){
// double tag_x = LimelightHelpers.getTX("");
// double tag_y = LimelightHelpers.getTY("");
// // dynamic cropping
// // if(tag_x >=-0.83 && tag_x <=0.07){
// // LimelightHelpers.setPipelineIndex("", 1);
// // }else if (tag_x >=-0.63 && tag_x <=0.27) {
// // LimelightHelpers.setPipelineIndex("", 2);
// // }else if (tag_x >=-0.43 && tag_x <=0.47) {
// // LimelightHelpers.setPipelineIndex("", 3);
// // }else if (tag_x >=-0.23 && tag_x <=0.67) {
// // LimelightHelpers.setPipelineIndex("", 4);
// // }else if (tag_x >=-0.03 && tag_x <=0.87) {
// // LimelightHelpers.setPipelineIndex("", 5);
// // }

// non-dynamic
LimelightHelpers.setPipelineIndex("", 6);
count = 0;
}
if(!limelightResult.valid && count >=25){
LimelightHelpers.setPipelineIndex("", 0);
}
// // non-dynamic
// LimelightHelpers.setPipelineIndex("", 6);
// count = 0;
// }
// if(!limelightResult.valid && count >=25){
// LimelightHelpers.setPipelineIndex("", 0);
// }


// if (limelightResult != null && limelightResult.valid){
Expand Down
104 changes: 45 additions & 59 deletions vendordeps/photonlib.json
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Original file line number Diff line number Diff line change
@@ -1,71 +1,57 @@
{
"fileName": "photonlib.json",
"name": "photonlib",
"version": "v2025.0.0-beta-8",
"version": "dev-v2024.3.1-rknn-v1.0-64-g86e22505",
"uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
"frcYear": "2025",
"mavenUrls": [
"https://maven.photonvision.org/repository/internal",
"https://maven.photonvision.org/repository/snapshots"
"~/.m2/repository"
],
"jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
"jniDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-cpp",
"version": "v2025.0.0-beta-8",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "photonlib-cpp",
"version": "v2025.0.0-beta-8",
"libName": "photonlib",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
},
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-cpp",
"version": "v2025.0.0-beta-8",
"libName": "photontargeting",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
}
{
"groupId": "org.photonvision",
"artifactId": "photonlib-cpp",
"version": "dev-v2024.3.1-rknn-v1.0-64-g86e22505",
"libName": "photonlib",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
},
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-cpp",
"version": "dev-v2024.3.1-rknn-v1.0-64-g86e22505",
"libName": "photontargeting",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
}
],
"javaDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "photonlib-java",
"version": "v2025.0.0-beta-8"
},
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-java",
"version": "v2025.0.0-beta-8"
}
{
"groupId": "org.photonvision",
"artifactId": "photonlib-java",
"version": "dev-v2024.3.1-rknn-v1.0-64-g86e22505"
},
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-java",
"version": "dev-v2024.3.1-rknn-v1.0-64-g86e22505"
}
]
}
}

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