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Fix deprecation warnings in PhotonLib examples (#1699)

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The following deprecation warnings have been fixed:
- `SwerveModuleState.optimize(desiredState, currentRotation);`, which is
now an instance method
- `AprilTagFields.kDefaultField.loadAprilTagLayoutField();`, which is
now `AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);`

WIP:
- [x] C++
- [x] Python
This commit is contained in:
DeltaDizzy
2025-01-11 23:30:24 -05:00
committed by GitHub
parent 159b848234
commit d487e1c466
12 changed files with 48 additions and 27 deletions
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1
photon-lib/py/disableUsingDevBuilds.sh Executable file
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@@ -0,0 +1 @@
python3 -m pip config unset global.find-links

1
photon-lib/py/enableUsingDevBuilds.sh Executable file
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@@ -0,0 +1 @@
python3 -m pip config set global.find-links dist

2
photonlib-java-examples/aimandrange/src/main/java/frc/robot/Constants.java
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@@ -48,7 +48,7 @@ public class Constants {
// The layout of the AprilTags on the field
public static final AprilTagFieldLayout kTagLayout =
AprilTagFields.kDefaultField.loadAprilTagLayoutField();
AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
// The standard deviations of our vision estimated poses, which affect correction rate
// (Fake values. Experiment and determine estimation noise on an actual robot.)

2
photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
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@@ -108,7 +108,7 @@ public class SwerveModule {
SwerveModuleState desiredState, boolean openLoop, boolean steerInPlace) {
Rotation2d currentRotation = getAbsoluteHeading();
// Avoid turning more than 90 degrees by inverting speed on large angle changes
desiredState = SwerveModuleState.optimize(desiredState, currentRotation);
desiredState.optimize(currentRotation);
this.desiredState = desiredState;
}

2
photonlib-java-examples/aimattarget/src/main/java/frc/robot/Constants.java
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@@ -48,7 +48,7 @@ public class Constants {
// The layout of the AprilTags on the field
public static final AprilTagFieldLayout kTagLayout =
AprilTagFields.kDefaultField.loadAprilTagLayoutField();
AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
// The standard deviations of our vision estimated poses, which affect correction rate
// (Fake values. Experiment and determine estimation noise on an actual robot.)

2
photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
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@@ -108,7 +108,7 @@ public class SwerveModule {
SwerveModuleState desiredState, boolean openLoop, boolean steerInPlace) {
Rotation2d currentRotation = getAbsoluteHeading();
// Avoid turning more than 90 degrees by inverting speed on large angle changes
desiredState = SwerveModuleState.optimize(desiredState, currentRotation);
desiredState.optimize(currentRotation);
this.desiredState = desiredState;
}

2
photonlib-java-examples/poseest/src/main/java/frc/robot/Constants.java
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@@ -46,7 +46,7 @@ public class Constants {
// The layout of the AprilTags on the field
public static final AprilTagFieldLayout kTagLayout =
AprilTagFields.kDefaultField.loadAprilTagLayoutField();
AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
// The standard deviations of our vision estimated poses, which affect correction rate
// (Fake values. Experiment and determine estimation noise on an actual robot.)

2
photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
View File

@@ -108,7 +108,7 @@ public class SwerveModule {
SwerveModuleState desiredState, boolean openLoop, boolean steerInPlace) {
Rotation2d currentRotation = getAbsoluteHeading();
// Avoid turning more than 90 degrees by inverting speed on large angle changes
desiredState = SwerveModuleState.optimize(desiredState, currentRotation);
desiredState.optimize(currentRotation);
this.desiredState = desiredState;
}

12
photonlib-python-examples/aimandrange/swervemodule.py
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@@ -142,25 +142,23 @@ class SwerveModule:
encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
# Optimize the reference state to avoid spinning further than 90 degrees
state = wpimath.kinematics.SwerveModuleState.optimize(
self.desiredState, encoderRotation
)
desiredState.optimize(encoderRotation)
# Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
# direction of travel that can occur when modules change directions. This results in smoother
# driving.
state.speed *= (state.angle - encoderRotation).cos()
desiredState.speed *= (desiredState.angle - encoderRotation).cos()
# Calculate the drive output from the drive PID controller.
driveOutput = self.drivePIDController.calculate(
self.driveEncoder.getRate(), state.speed
self.driveEncoder.getRate(), desiredState.speed
)
driveFeedforward = self.driveFeedforward.calculate(state.speed)
driveFeedforward = self.driveFeedforward.calculate(desiredState.speed)
# Calculate the turning motor output from the turning PID controller.
turnOutput = self.turningPIDController.calculate(
self.turningEncoder.getDistance(), state.angle.radians()
self.turningEncoder.getDistance(), desiredState.angle.radians()
)
turnFeedforward = self.turnFeedforward.calculate(

12
photonlib-python-examples/aimattarget/swervemodule.py
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@@ -142,25 +142,23 @@ class SwerveModule:
encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
# Optimize the reference state to avoid spinning further than 90 degrees
state = wpimath.kinematics.SwerveModuleState.optimize(
self.desiredState, encoderRotation
)
desiredState.optimize(encoderRotation)
# Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
# direction of travel that can occur when modules change directions. This results in smoother
# driving.
state.speed *= (state.angle - encoderRotation).cos()
desiredState.speed *= (desiredState.angle - encoderRotation).cos()
# Calculate the drive output from the drive PID controller.
driveOutput = self.drivePIDController.calculate(
self.driveEncoder.getRate(), state.speed
self.driveEncoder.getRate(), desiredState.speed
)
driveFeedforward = self.driveFeedforward.calculate(state.speed)
driveFeedforward = self.driveFeedforward.calculate(desiredState.speed)
# Calculate the turning motor output from the turning PID controller.
turnOutput = self.turningPIDController.calculate(
self.turningEncoder.getDistance(), state.angle.radians()
self.turningEncoder.getDistance(), desiredState.angle.radians()
)
turnFeedforward = self.turnFeedforward.calculate(

12
photonlib-python-examples/poseest/swervemodule.py
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@@ -141,25 +141,23 @@ class SwerveModule:
encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
# Optimize the reference state to avoid spinning further than 90 degrees
state = wpimath.kinematics.SwerveModuleState.optimize(
self.desiredState, encoderRotation
)
self.desiredState.optimize(encoderRotation)
# Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
# direction of travel that can occur when modules change directions. This results in smoother
# driving.
state.speed *= (state.angle - encoderRotation).cos()
self.desiredState.speed *= (self.desiredState.angle - encoderRotation).cos()
# Calculate the drive output from the drive PID controller.
driveOutput = self.drivePIDController.calculate(
self.driveEncoder.getRate(), state.speed
self.driveEncoder.getRate(), self.desiredState.speed
)
driveFeedforward = self.driveFeedforward.calculate(state.speed)
driveFeedforward = self.driveFeedforward.calculate(self.desiredState.speed)
# Calculate the turning motor output from the turning PID controller.
turnOutput = self.turningPIDController.calculate(
self.turningEncoder.getDistance(), state.angle.radians()
self.turningEncoder.getDistance(), self.desiredState.angle.radians()
)
self.driveMotor.setVoltage(driveOutput + driveFeedforward)

25
photonlib-python-examples/run.sh Executable file
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@@ -0,0 +1,25 @@
# Check if the first argument is provided
if [ $# -eq 0 ]
then
echo "Error: No example-to-run provided."
exit 1
fi
# To run any example, we want to use photonlib out of this repo
# Build the wheel first
pushd ../photon-lib/py
if [ -d build ]
then rm -rdf build
fi
python3 setup.py bdist_wheel
popd
# Add the output directory to PYTHONPATH to make sure it gets picked up
export PHOTONLIBPY_ROOT=../photon-lib/py
export PYTHONPATH=$PHOTONLIBPY_ROOT
# Move to the right example folder
cd $1
# Run the example
robotpy sim