mirror of
https://github.com/PhotonVision/photonvision
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ce0d28da93
Removes apriltagExample and simposeest, replacing them with swervedriveposeestsim --------- Co-authored-by: Matt <matthew.morley.ca@gmail.com>
54 lines
1.8 KiB
Markdown
54 lines
1.8 KiB
Markdown
## PhotonLib Java Examples
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### Running examples
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For instructions on how to run these examples locally, see [Running Examples](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html#running-examples).
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---
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### [**`aimattarget`**](aimattarget)
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A simple demonstration of using PhotonVision's 2d target yaw to align a differential drivetrain with a target.
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### [**`getinrange`**](getinrange)
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A simple demonstration of using PhotonVision's 2d target pitch to bring a differential drivetrain to a specific distance from a target.
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### [**`aimandrange`**](aimandrange)
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A combination of the previous `aimattarget` and `getinrange` examples to simultaneously aim and get in range of a target.
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### [**`simaimandrange`**](simaimandrange)
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The above `aimandrange` example with simulation support.
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<img src="https://github-production-user-asset-6210df.s3.amazonaws.com/7953350/268856085-432a54b9-f596-4e30-8b57-a8f38f88f985.png" width=60% height=60%>
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**Keyboard controls:**
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- Drive forward/backward: W/S
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- Turn left/right: A/D
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- Perform vision alignment: Z
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### [**`swervedriveposeestsim`**](swervedriveposeestsim)
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A minimal swerve drive example demonstrating the usage of PhotonVision for AprilTag vision estimation with a swerve drive pose estimator.
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The example also has simulation support with an approximation of swerve drive dynamics.
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<img src="https://github-production-user-asset-6210df.s3.amazonaws.com/7953350/268862944-3392e69a-7705-4dbc-9eb8-0d03a6e27b9e.png" width=60% height=60%>
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<img src="https://github-production-user-asset-6210df.s3.amazonaws.com/7953350/268857280-bae145b8-356e-4afb-b842-597dbea60df6.png" width=60% height=60%>
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**Keyboard controls:**
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- Translate field-relative: WASD
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- Rotate counter/clockwise: Q/E
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- Offset pose estimate: X
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