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reworked driverMode, fixed streamDivisor

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This commit is contained in:
Banks Troutman
2019-11-02 03:34:51 -04:00
parent 58e39b2922
commit bff2c2d8e0
5 changed files with 117 additions and 56 deletions
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10
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -19,7 +19,7 @@ public class VisionProcess implements Runnable {
private final Camera camera;
private final String cameraName;
private final CameraProcess cameraProcess;
public final CameraProcess cameraProcess;
// NetworkTables
public NetworkTableEntry ntPipelineEntry;
public NetworkTableEntry ntDriverModeEntry;
@@ -165,6 +165,14 @@ public class VisionProcess implements Runnable {
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
break;
}
// var camVals = camera.getCamVals();
// if (currentPipeline.isCalibrated) {
// pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
// pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
// } else {
// pipelineResult.CalibratedX = camVals.CenterX;
// pipelineResult.CalibratedY = camVals.CenterY;
// }
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Area = finalRect.size.area();