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68fc1e7129
This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more. Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
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