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Auto-generate packet dataclasses with Jinja (#1374)

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This commit is contained in:
Matt
2024-08-31 13:44:19 -04:00
committed by GitHub
parent c19d54c633
commit 169595e56e
140 changed files with 4445 additions and 2097 deletions
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14
photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
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@@ -27,9 +27,11 @@ package frc.robot;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import org.photonvision.PhotonCamera;
/**
@@ -49,7 +51,7 @@ public class Robot extends TimedRobot {
final double GOAL_RANGE_METERS = Units.feetToMeters(3);
// Change this to match the name of your camera as shown in the web UI
PhotonCamera camera = new PhotonCamera("YOUR_CAMERA_NAME_HERE");
PhotonCamera camera = new PhotonCamera("Microsoft_LifeCam_HD-3000");
// PID constants should be tuned per robot
final double LINEAR_P = 0.1;
@@ -67,6 +69,16 @@ public class Robot extends TimedRobot {
PWMVictorSPX rightMotor = new PWMVictorSPX(1);
DifferentialDrive drive = new DifferentialDrive(leftMotor, rightMotor);
@Override
public void robotPeriodic() {
var start = Timer.getFPGATimestamp();
var res = camera.getLatestResult();
var end = Timer.getFPGATimestamp();
System.out.println(
"dt: " + (int) ((end - start) * 1e6) + "uS for targets: " + res.getTargets().size());
SmartDashboard.putNumber("decodeTime", (int) ((end - start) * 1e6));
}
@Override
public void teleopPeriodic() {
double forwardSpeed;