Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-19 00:41:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update to wpilib 2023 beta 7 (#607)

Browse Source 
We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.
This commit is contained in:
shueja-personal
2022-12-16 17:05:23 -08:00
committed by GitHub
parent da1aabae3a
commit bb63af601d
198 changed files with 6339 additions and 4525 deletions
Download Patch File Download Diff File Expand all files Collapse all files

45
photonlib-java-examples/aimattarget/src/main/java/frc/robot/Main.java Normal file
View File

@@ -0,0 +1,45 @@
/*
* MIT License
*
* Copyright (c) 2022 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.
*/
package frc.robot;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

98
photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java Normal file
View File

@@ -0,0 +1,98 @@
/*
* MIT License
*
* Copyright (c) 2022 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.
*/
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.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import org.photonvision.PhotonCamera;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
// Constants such as camera and target height stored. Change per robot and goal!
final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
final double TARGET_HEIGHT_METERS = Units.feetToMeters(5);
// Angle between horizontal and the camera.
final double CAMERA_PITCH_RADIANS = Units.degreesToRadians(0);
// How far from the target we want to be
final double GOAL_RANGE_METERS = Units.feetToMeters(3);
// Change this to match the name of your camera
PhotonCamera camera = new PhotonCamera("photonvision");
// PID constants should be tuned per robot
final double LINEAR_P = 0.1;
final double LINEAR_D = 0.0;
PIDController forwardController = new PIDController(LINEAR_P, 0, LINEAR_D);
final double ANGULAR_P = 0.1;
final double ANGULAR_D = 0.0;
PIDController turnController = new PIDController(ANGULAR_P, 0, ANGULAR_D);
XboxController xboxController = new XboxController(0);
// Drive motors
PWMVictorSPX leftMotor = new PWMVictorSPX(0);
PWMVictorSPX rightMotor = new PWMVictorSPX(1);
DifferentialDrive drive = new DifferentialDrive(leftMotor, rightMotor);
@Override
public void teleopPeriodic() {
double forwardSpeed;
double rotationSpeed;
forwardSpeed = -xboxController.getRightY();
if (xboxController.getAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
var result = camera.getLatestResult();
if (result.hasTargets()) {
// Calculate angular turn power
// -1.0 required to ensure positive PID controller effort _increases_ yaw
rotationSpeed = -turnController.calculate(result.getBestTarget().getYaw(), 0);
} else {
// If we have no targets, stay still.
rotationSpeed = 0;
}
} else {
// Manual Driver Mode
rotationSpeed = xboxController.getLeftX();
}
// Use our forward/turn speeds to control the drivetrain
drive.arcadeDrive(forwardSpeed, rotationSpeed);
}
}