Examples Clean-Up (#1408)

2026-06-20 00:51:41 +00:00 · 2024-09-14 23:10:02 -05:00
parent 596c87519c
commit 9e6a066561
269 changed files with 9346 additions and 3734 deletions
--- a/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
+++ b/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
@@ -0,0 +1,113 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "Robot.h"
+
+#include <iostream>
+
+#include <frc/simulation/BatterySim.h>
+#include <frc/simulation/RoboRioSim.h>
+
+void Robot::RobotInit() {}
+
+void Robot::RobotPeriodic() {
+  launcher.periodic();
+  drivetrain.Periodic();
+
+  auto visionEst = vision.GetEstimatedGlobalPose();
+  if (visionEst.has_value()) {
+    auto est = visionEst.value();
+    auto estPose = est.estimatedPose.ToPose2d();
+    auto estStdDevs = vision.GetEstimationStdDevs(estPose);
+    drivetrain.AddVisionMeasurement(est.estimatedPose.ToPose2d(), est.timestamp,
+                                    estStdDevs);
+  }
+
+  drivetrain.Log();
+}
+
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() { drivetrain.Stop(); }
+
+void Robot::DisabledExit() {}
+
+void Robot::AutonomousInit() {}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::AutonomousExit() {}
+
+void Robot::TeleopInit() {
+  frc::Pose2d pose{1_m, 1_m, frc::Rotation2d{}};
+  drivetrain.ResetPose(pose, true);
+}
+
+void Robot::TeleopPeriodic() {
+  // Calculate drivetrain commands from Joystick values
+  auto forward =
+      -1.0 * controller.GetLeftY() * constants::Swerve::kMaxLinearSpeed;
+  auto strafe =
+      -1.0 * controller.GetLeftX() * constants::Swerve::kMaxLinearSpeed;
+  auto turn =
+      -1.0 * controller.GetRightX() * constants::Swerve::kMaxAngularSpeed;
+
+  // Command drivetrain motors based on target speeds
+  drivetrain.Drive(forward, strafe, turn);
+
+  // Calculate whether the gamepiece launcher runs based on our global pose
+  // estimate.
+  frc::Pose2d curPose = drivetrain.GetPose();
+  bool shouldRun = (curPose.Y() > 2.0_m &&
+                    curPose.X() < 4.0_m);  // Close enough to blue speaker
+  launcher.setRunning(shouldRun);
+}
+
+void Robot::TeleopExit() {}
+
+void Robot::TestInit() {}
+
+void Robot::TestPeriodic() {}
+
+void Robot::TestExit() {}
+
+void Robot::SimulationPeriodic() {
+  launcher.simulationPeriodic();
+  drivetrain.SimulationPeriodic();
+  vision.SimPeriodic(drivetrain.GetSimPose());
+
+  frc::Field2d& debugField = vision.GetSimDebugField();
+  debugField.GetObject("EstimatedRobot")->SetPose(drivetrain.GetPose());
+  debugField.GetObject("EstimatedRobotModules")
+      ->SetPoses(drivetrain.GetModulePoses());
+
+  units::ampere_t totalCurrent = drivetrain.GetCurrentDraw();
+  units::volt_t loadedBattVolts =
+      frc::sim::BatterySim::Calculate({totalCurrent});
+  frc::sim::RoboRioSim::SetVInVoltage(loadedBattVolts);
+}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif