mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
d487e1c466
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
PhotonLib Java Examples
All examples demonstrate controlling a swerve drive with outputs from PhotonVision.
Simulation is available to demonstrate the concepts - swerve physics is approximated.
You can access a stream of what the simulated camera sees by going to https://localhost:1182 .
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.
Keyboard controls:
- Translate field-relative: WASD
- Rotate counter/clockwise: Q/E
- Perform vision alignment: Z
aimandrange
Extendsaimattarget to add getting in range of the target.
Keyboard controls:
- Translate field-relative: WASD
- Rotate counter/clockwise: Q/E
- Perform vision alignment: Z
poseest
The example also has simulation support with an approximation of swerve drive dynamics.
Keyboard controls:
- Translate field-relative: WASD
- Rotate counter/clockwise: Q/E
- Perform vision alignment: Z
- Offset pose estimate: X