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https://github.com/PhotonVision/photonvision
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47 lines
2.5 KiB
ReStructuredText
47 lines
2.5 KiB
ReStructuredText
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Aiming at a Target
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==================
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The following example is from the PhotonLib example repository (`Java <https://github.com/PhotonVision/photonvision/tree/master/photonlib-java-examples/aimattarget>`_/`C++ <https://github.com/PhotonVision/photonvision/tree/master/photonlib-cpp-examples/aimattarget>`_).
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Knowledge and Equipment Needed
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------------------------------
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- Robot with a vision system running PhotonVision
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- Target
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- Ability to track a target by properly tuning a pipeline
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Code
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-------
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Now that you have properly set up your vision system and have tuned a pipeline, you can now aim your robot/turret at the target using the data from PhotonVision. This data is reported over NetworkTables and includes: latency, whether there is a target detected or not, pitch, yaw, area, skew, and target pose relative to the robot. This data will be used/manipulated by our vendor dependency, PhotonLib. The documentation for the Network Tables API can be found :ref:`here <docs/additional-resources/nt-api:Getting Target Information>` and the documentation for PhotonLib :ref:`here <docs/programming/photonlib/adding-vendordep:What is PhotonLib?>`.
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For this simple example, only yaw is needed.
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In this example, while the operator holds a button down, the robot will turn towards the goal using the P term of a PID loop. To learn more about how PID loops work, how WPILib implements them, and more, visit `Advanced Controls (PID) <https://docs.wpilib.org/en/stable/docs/software/advanced-control/introduction/index.html>`_ and `PID Control in WPILib <https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/pidcontroller.html#pid-control-in-wpilib>`_.
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.. tab-set::
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.. tab-item:: Java
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.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
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:language: java
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:lines: 41-98
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:linenos:
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:lineno-start: 41
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.. tab-item:: C++ (Header)
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.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
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:language: c++
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:lines: 27-53
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:linenos:
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:lineno-start: 27
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.. tab-item:: C++ (Source)
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.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/ebef19af3d926cf87292177c9a16d01b71219306/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp
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:language: c++
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:lines: 25-52
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:linenos:
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:lineno-start: 25
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