mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
54 lines
1.9 KiB
C++
54 lines
1.9 KiB
C++
/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#pragma once
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#include <photon/PhotonCamera.h>
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#include <frc/TimedRobot.h>
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#include <frc/XboxController.h>
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#include <frc/controller/PIDController.h>
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#include <frc/drive/DifferentialDrive.h>
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#include <frc/motorcontrol/PWMVictorSPX.h>
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#include <units/angle.h>
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#include <units/length.h>
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class Robot : public frc::TimedRobot {
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public:
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void TeleopPeriodic() override;
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private:
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// Change this to match the name of your camera as shown in the web UI
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photon::PhotonCamera camera{"YOUR_CAMERA_NAME_HERE"};
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// PID constants should be tuned per robot
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frc::PIDController controller{.1, 0, 0};
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frc::XboxController xboxController{0};
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// Drive motors
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frc::PWMVictorSPX leftMotor{0};
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frc::PWMVictorSPX rightMotor{1};
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frc::DifferentialDrive drive{leftMotor, rightMotor};
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};
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