From 0128c9039a64b2cedf40ea84b62f68e894cdac1a Mon Sep 17 00:00:00 2001 From: Brian Chen Date: Sat, 11 Jan 2025 18:26:56 -0800 Subject: [PATCH] photonlib incompatible --- .../frc/robot/Subsystems/Vision/Vision.java | 56 +++++----- vendordeps/photonlib.json | 104 ++++++++---------- 2 files changed, 74 insertions(+), 86 deletions(-) diff --git a/src/main/java/frc/robot/Subsystems/Vision/Vision.java b/src/main/java/frc/robot/Subsystems/Vision/Vision.java index b5f4ac0..548d205 100644 --- a/src/main/java/frc/robot/Subsystems/Vision/Vision.java +++ b/src/main/java/frc/robot/Subsystems/Vision/Vision.java @@ -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; @@ -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); @@ -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); @@ -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){ diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index db43d6d..f9b0d15 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -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" + } ] -} \ No newline at end of file + } + \ No newline at end of file