mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
71 lines
2.1 KiB
C
71 lines
2.1 KiB
C
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/**
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* Copyright (C) 2018-2020 Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "DrivetrainSim.h"
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#include <photonlib/PhotonCamera.h>
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#include <frc/PWMVictorSPX.h>
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#include <frc/TimedRobot.h>
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#include <frc/XboxController.h>
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#include <frc/controller/PIDController.h>
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#include <frc/drive/DifferentialDrive.h>
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#include <units/angle.h>
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#include <units/length.h>
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class Robot : public frc::TimedRobot {
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public:
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void TeleopPeriodic() override;
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void SimulationPeriodic() override;
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private:
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// Constants such as camera and target height stored. Change per robot and
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// goal!
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const units::meter_t CAMERA_HEIGHT = 24_in;
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const units::meter_t TARGET_HEIGHT = 81.19_in;
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// Angle between horizontal and the camera.
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const units::radian_t CAMERA_PITCH = 15_deg;
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// How far from the target we want to be
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const units::meter_t GOAL_RANGE_METERS = 10_ft;
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// PID constants should be tuned per robot
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const double LINEAR_P = 2.0;
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const double LINEAR_D = 0.0;
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frc2::PIDController forwardController{LINEAR_P, 0.0, LINEAR_D};
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const double ANGULAR_P = 0.03;
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const double ANGULAR_D = 0.003;
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frc2::PIDController turnController{ANGULAR_P, 0.0, ANGULAR_D};
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// Change this to match the name of your camera
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photonlib::PhotonCamera camera{"photonvision"};
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frc::XboxController xboxController{0};
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// Drive motors
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frc::PWMVictorSPX leftMotor{0};
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frc::PWMVictorSPX rightMotor{1};
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frc::DifferentialDrive drive{leftMotor, rightMotor};
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// Simulation Support
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DrivetrainSim dtSim{};
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};
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