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Fix documentation tab set syncing (#2109)

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This commit is contained in:
Alan Everett
2025-10-09 17:27:58 -04:00
committed by GitHub
parent e486ff5a50
commit 17c23b0390
13 changed files with 178 additions and 197 deletions
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6
docs/source/docs/programming/photonlib/controlling-led.md
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@@ -4,17 +4,17 @@ You can control the vision LEDs of supported hardware via PhotonLib using the `s
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Blink the LEDs.
camera.setLED(VisionLEDMode.kBlink);
.. code-block:: C++
.. code-block:: c++
// Blink the LEDs.
camera.SetLED(photonlib::VisionLEDMode::kBlink);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```

18
docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md
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@@ -9,17 +9,17 @@ You can use the `setDriverMode()`/`SetDriverMode()` (Java and C++ respectively)
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Set driver mode to on.
camera.setDriverMode(true);
.. code-block:: C++
.. code-block:: c++
// Set driver mode to on.
camera.SetDriverMode(true);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```
@@ -31,17 +31,17 @@ You can use the `setPipelineIndex()`/`SetPipelineIndex()` (Java and C++ respecti
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Change pipeline to 2
camera.setPipelineIndex(2);
.. code-block:: C++
.. code-block:: c++
// Change pipeline to 2
camera.SetPipelineIndex(2);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```
@@ -52,17 +52,17 @@ You can also get the pipeline latency from a pipeline result using the `getLaten
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get the pipeline latency.
double latencySeconds = result.getLatencyMillis() / 1000.0;
.. code-block:: C++
.. code-block:: c++
// Get the pipeline latency.
units::second_t latency = result.GetLatency();
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```

40
docs/source/docs/programming/photonlib/getting-target-data.md
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@@ -20,7 +20,7 @@ The `PhotonCamera` class has two constructors: one that takes a `NetworkTable` a
:language: c++
:lines: 42-43
.. code-block:: Python
.. code-block:: python
# Change this to match the name of your camera as shown in the web ui
self.camera = PhotonCamera("your_camera_name_here")
@@ -51,7 +51,7 @@ Use the `getLatestResult()`/`GetLatestResult()` (Java and C++ respectively) to o
:language: c++
:lines: 35-36
.. code-block:: Python
.. code-block:: python
# Query the latest result from PhotonVision
result = self.camera.getLatestResult()
@@ -69,17 +69,17 @@ Each pipeline result has a `hasTargets()`/`HasTargets()` (Java and C++ respectiv
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Check if the latest result has any targets.
boolean hasTargets = result.hasTargets();
.. code-block:: C++
.. code-block:: c++
// Check if the latest result has any targets.
bool hasTargets = result.HasTargets();
.. code-block:: Python
.. code-block:: python
# Check if the latest result has any targets.
hasTargets = result.hasTargets()
@@ -99,17 +99,17 @@ You can get a list of tracked targets using the `getTargets()`/`GetTargets()` (J
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get a list of currently tracked targets.
List<PhotonTrackedTarget> targets = result.getTargets();
.. code-block:: C++
.. code-block:: c++
// Get a list of currently tracked targets.
wpi::ArrayRef<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
.. code-block:: Python
.. code-block:: python
# Get a list of currently tracked targets.
targets = result.getTargets()
@@ -121,18 +121,18 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get the current best target.
PhotonTrackedTarget target = result.getBestTarget();
.. code-block:: C++
.. code-block:: c++
// Get the current best target.
photonlib::PhotonTrackedTarget target = result.GetBestTarget();
.. code-block:: Python
.. code-block:: python
# Coming Soon!
@@ -149,7 +149,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get information from target.
double yaw = target.getYaw();
@@ -159,7 +159,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
Transform2d pose = target.getCameraToTarget();
List<TargetCorner> corners = target.getCorners();
.. code-block:: C++
.. code-block:: c++
// Get information from target.
double yaw = target.GetYaw();
@@ -169,7 +169,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
frc::Transform2d pose = target.GetCameraToTarget();
wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
.. code-block:: Python
.. code-block:: python
# Get information from target.
yaw = target.getYaw()
@@ -193,7 +193,7 @@ All of the data above (**except skew**) is available when using AprilTags.
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get information from target.
int targetID = target.getFiducialId();
@@ -201,7 +201,7 @@ All of the data above (**except skew**) is available when using AprilTags.
Transform3d bestCameraToTarget = target.getBestCameraToTarget();
Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
.. code-block:: C++
.. code-block:: c++
// Get information from target.
int targetID = target.GetFiducialId();
@@ -209,7 +209,7 @@ All of the data above (**except skew**) is available when using AprilTags.
frc::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
frc::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
.. code-block:: Python
.. code-block:: python
# Get information from target.
targetID = target.getFiducialId()
@@ -227,7 +227,7 @@ Images are stored within the PhotonVision configuration directory. Running the "
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Capture pre-process camera stream image
camera.takeInputSnapshot();
@@ -235,7 +235,7 @@ Images are stored within the PhotonVision configuration directory. Running the "
// Capture post-process camera stream image
camera.takeOutputSnapshot();
.. code-block:: C++
.. code-block:: c++
// Capture pre-process camera stream image
camera.TakeInputSnapshot();
@@ -243,7 +243,7 @@ Images are stored within the PhotonVision configuration directory. Running the "
// Capture post-process camera stream image
camera.TakeOutputSnapshot();
.. code-block:: Python
.. code-block:: python
# Capture pre-process camera stream image
camera.takeInputSnapshot()

36
docs/source/docs/programming/photonlib/using-target-data.md
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@@ -8,17 +8,17 @@ A `PhotonUtils` class with helpful common calculations is included within `Photo
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Calculate robot's field relative pose
if (aprilTagFieldLayout.getTagPose(target.getFiducialId()).isPresent()) {
Pose3d robotPose = PhotonUtils.estimateFieldToRobotAprilTag(target.getBestCameraToTarget(), aprilTagFieldLayout.getTagPose(target.getFiducialId()).get(), cameraToRobot);
}
.. code-block:: C++
.. code-block:: c++
//TODO
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```
@@ -29,19 +29,19 @@ You can get your robot's `Pose2D` on the field using various camera data, target
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Calculate robot's field relative pose
Pose2D robotPose = PhotonUtils.estimateFieldToRobot(
kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, Rotation2d.fromDegrees(-target.getYaw()), gyro.getRotation2d(), targetPose, cameraToRobot);
.. code-block:: C++
.. code-block:: c++
// Calculate robot's field relative pose
frc::Pose2D robotPose = photonlib::EstimateFieldToRobot(
kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, frc::Rotation2d(units::degree_t(-target.GetYaw())), frc::Rotation2d(units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
@@ -54,15 +54,15 @@ If your camera is at a fixed height on your robot and the height of the target i
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// TODO
.. code-block:: C++
.. code-block:: c++
// TODO
.. code-block:: Python
.. code-block:: python
# Coming Soon!
@@ -78,15 +78,15 @@ The C++ version of PhotonLib uses the Units library. For more information, see [
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
double distanceToTarget = PhotonUtils.getDistanceToPose(robotPose, targetPose);
.. code-block:: C++
.. code-block:: c++
//TODO
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```
@@ -97,19 +97,19 @@ You can get a [translation](https://docs.wpilib.org/en/latest/docs/software/adva
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Calculate a translation from the camera to the target.
Translation2d translation = PhotonUtils.estimateCameraToTargetTranslation(
distanceMeters, Rotation2d.fromDegrees(-target.getYaw()));
.. code-block:: C++
.. code-block:: c++
// Calculate a translation from the camera to the target.
frc::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
distance, frc::Rotation2d(units::degree_t(-target.GetYaw())));
.. code-block:: Python
.. code-block:: python
# Coming Soon!
@@ -125,14 +125,14 @@ We are negating the yaw from the camera from CV (computer vision) conventions to
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
Rotation2d targetYaw = PhotonUtils.getYawToPose(robotPose, targetPose);
.. code-block:: C++
.. code-block:: c++
//TODO
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```