ce0d28da93
Removes apriltagExample and simposeest, replacing them with swervedriveposeestsim --------- Co-authored-by: Matt <matthew.morley.ca@gmail.com>
1.8 KiB
PhotonLib Java Examples
Running examples
For instructions on how to run these examples locally, see Running Examples.
aimattarget
A simple demonstration of using PhotonVision's 2d target yaw to align a differential drivetrain with a target.
getinrange
A simple demonstration of using PhotonVision's 2d target pitch to bring a differential drivetrain to a specific distance from a target.
aimandrange
A combination of the previous aimattarget and getinrange examples to simultaneously aim and get in range of a target.
simaimandrange
The above aimandrange example with simulation support.
Keyboard controls:
- Drive forward/backward: W/S
- Turn left/right: A/D
- Perform vision alignment: Z
swervedriveposeestsim
A minimal swerve drive example demonstrating the usage of PhotonVision for AprilTag vision estimation with a swerve drive pose estimator.
The example also has simulation support with an approximation of swerve drive dynamics.
Keyboard controls:
- Translate field-relative: WASD
- Rotate counter/clockwise: Q/E
- Offset pose estimate: X