Prepare for release

Team3128 · Apr 15, 2024 · fe5cebc · fe5cebc
1 parent a6b8b1d
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Showing 9 changed files with 69 additions and 86 deletions.
diff --git a/3128-Common.json b/3128-Common.json
@@ -1,6 +1,6 @@
 {
   "name": "3128-common",
-  "version": "1.7.3",
+  "version": "1.7.4",
   "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
   "frcYear": "2024",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.github.Team3128",
       "artifactId": "3128-common",
-      "version": "1.7.3"
+      "version": "1.7.4"
     }
   ],
   "jniDependencies": [],

diff --git a/3128-common.json b/3128-common.json
@@ -1,6 +1,6 @@
 {
   "name": "3128-common",
-  "version": "1.7.3",
+  "version": "1.7.4",
   "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
   "frcYear": "2024",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.github.Team3128",
       "artifactId": "3128-common",
-      "version": "1.7.3"
+      "version": "1.7.4"
     }
   ],
   "jniDependencies": [],

diff --git a/doc/common/hardware/camera/Camera.html b/doc/common/hardware/camera/Camera.html
diff --git a/doc/index-all.html b/doc/index-all.html
@@ -154,7 +154,7 @@ <h2 class="title" id="I:A">A</h2>
 <dd>
 <div class="block">Displays sendable values, like subsystems and command, works on all classes that extend sendable</div>
 </dd>
-<dt><a href="common/hardware/camera/Camera.html#addShootTags(int...)" class="member-name-link">addShootTags(int...)</a> - Static method in class common.hardware.camera.<a href="common/hardware/camera/Camera.html" title="class in common.hardware.camera">Camera</a></dt>
+<dt><a href="common/hardware/camera/Camera.html#addTags(int...)" class="member-name-link">addTags(int...)</a> - Static method in class common.hardware.camera.<a href="common/hardware/camera/Camera.html" title="class in common.hardware.camera">Camera</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/tester/Tester.Test.html#addTest(common.utility.tester.Tester.Test)" class="member-name-link">addTest(Tester.Test)</a> - Method in class common.utility.tester.<a href="common/utility/tester/Tester.Test.html" title="class in common.utility.tester">Tester.Test</a></dt>
 <dd>
@@ -194,8 +194,6 @@ <h2 class="title" id="I:A">A</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/hardware/limelight/LimelightKey.html#AREA" class="member-name-link">AREA</a> - Enum constant in enum class common.hardware.limelight.<a href="common/hardware/limelight/LimelightKey.html" title="enum class in common.hardware.limelight">LimelightKey</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/hardware/camera/Camera.html#areShootTagsSeen" class="member-name-link">areShootTagsSeen</a> - Static variable in class common.hardware.camera.<a href="common/hardware/camera/Camera.html" title="class in common.hardware.camera">Camera</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="common/core/controllers/ControllerBase.html#atSetpoint()" class="member-name-link">atSetpoint()</a> - Method in class common.core.controllers.<a href="common/core/controllers/ControllerBase.html" title="class in common.core.controllers">ControllerBase</a></dt>
 <dd>
 <div class="block">Returns true if the error is within the tolerance of the setpoint.</div>
@@ -306,8 +304,6 @@ <h2 class="title" id="I:C">C</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/core/swerve/SwerveBase.html#chassisVelocityCorrection" class="member-name-link">chassisVelocityCorrection</a> - Variable in class common.core.swerve.<a href="common/core/swerve/SwerveBase.html" title="class in common.core.swerve">SwerveBase</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="common/hardware/camera/Camera.html#checkShootTagsAll()" class="member-name-link">checkShootTagsAll()</a> - Static method in class common.hardware.camera.<a href="common/hardware/camera/Camera.html" title="class in common.hardware.camera">Camera</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="common/utility/narwhaldashboard/NarwhalDashboard.html#checkState(java.lang.String,java.util.function.Supplier)" class="member-name-link">checkState(String, Supplier&lt;NarwhalDashboard.State&gt;)</a> - Method in class common.utility.narwhaldashboard.<a href="common/utility/narwhaldashboard/NarwhalDashboard.html" title="class in common.utility.narwhaldashboard">NarwhalDashboard</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="common/utility/sysid/FFCharacterization.html#clear()" class="member-name-link">clear()</a> - Method in class common.utility.sysid.<a href="common/utility/sysid/FFCharacterization.html" title="class in common.utility.sysid">FFCharacterization</a></dt>
@@ -1697,6 +1693,8 @@ <h2 class="title" id="I:S">S</h2>
 <dd>&nbsp;</dd>
 <dt><a href="common/hardware/limelight/LimelightConstants.html#SCREEN_WIDTH" class="member-name-link">SCREEN_WIDTH</a> - Static variable in class common.hardware.limelight.<a href="common/hardware/limelight/LimelightConstants.html" title="class in common.hardware.limelight">LimelightConstants</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="common/hardware/camera/Camera.html#seesTag()" class="member-name-link">seesTag()</a> - Static method in class common.hardware.camera.<a href="common/hardware/camera/Camera.html" title="class in common.hardware.camera">Camera</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="common/utility/narwhaldashboard/NarwhalDashboard.html#sendMessage(java.lang.String)" class="member-name-link">sendMessage(String)</a> - Method in class common.utility.narwhaldashboard.<a href="common/utility/narwhaldashboard/NarwhalDashboard.html" title="class in common.utility.narwhaldashboard">NarwhalDashboard</a></dt>
 <dd>
 <div class="block">Sends a message to console.log on Narwhal Dashboard.</div>

diff --git a/doc/index.html b/doc/index.html
@@ -51,7 +51,7 @@ <h1 class="title">3128-common</h1>
 </div>
 <div class="block"><h1>FRC Team 3128 Robot Control Program Utility Library</h1>
 <p>Provides utility classes and functions for FRC robot control programs.</p>
-<p>Version 1.7.3 (April 13 2024)</p></div>
+<p>Version 1.7.4 (April 13 2024)</p></div>
 <div id="all-packages-table">
 <div class="caption"><span>Packages</span></div>
 <div class="summary-table two-column-summary">

diff --git a/doc/member-search-index.js b/doc/member-search-index.js
diff --git a/gradle.properties b/gradle.properties
@@ -1,4 +1,4 @@
-LibraryVersion=1.7.3
+LibraryVersion=1.7.4
 archivesGroup = com.github.Team3128
 archivesBaseName = 3128-common
 jsonFileName = 3128-common.json

diff --git a/src/main/java/common/hardware/camera/Camera.java b/src/main/java/common/hardware/camera/Camera.java
@@ -5,8 +5,6 @@
 import java.util.function.BiConsumer;
 import java.util.function.Supplier;
 import java.util.ArrayList;
-import java.util.HashMap;
-
 import org.littletonrobotics.junction.Logger;
 import org.photonvision.EstimatedRobotPose;
 import org.photonvision.PhotonCamera;
@@ -32,16 +30,14 @@
  */
 public class Camera {
 
-    public static boolean areShootTagsSeen = false;
-
-    private static ArrayList<Integer> shootTags = new ArrayList<Integer>();
+    private static ArrayList<Integer> tags = new ArrayList<Integer>();
 
-    private static HashMap<Camera, Boolean> shootTagsSeen = new HashMap<Camera, Boolean>();
+    private boolean hasSeenTag;
 
     public static int updateCounter = 0;
 
     public static double validDist = 0.5;
-    public static double overrideThreshold = 30;
+    public static double overrideThreshold = 5;
 
     private final PhotonCamera camera;
     private final Transform3d offset;
@@ -54,7 +50,7 @@ public class Camera {
     private static PoseStrategy calc_strategy;
     private static BiConsumer<Pose2d, Double> odometry;
     private static Supplier<Pose2d> robotPose;
-    private static double ambiguityThreshold = 0.2;
+    private static double ambiguityThreshold = 0.3;
 
     private static ArrayList<Integer> ignoredTags = new ArrayList<Integer>();
 
@@ -78,7 +74,7 @@ public Camera(String name, double xOffset, double yOffset, double yawOffset, dou
         }
 
         cameras.add(this);
-        shootTagsSeen.put(this, false);
+        hasSeenTag = false;
     }
 
     public static void configCameras(AprilTagFields aprilTagLayout, PoseStrategy calc_strategy, BiConsumer<Pose2d, Double> odometry, Supplier<Pose2d> robotPose){
@@ -94,20 +90,17 @@ public static void addIgnoredTags(int ...ignoredTags) {
         }
     }
 
-    public static void addShootTags(int ...shootTags) {
-        for(final int tag : shootTags) {
-            Camera.shootTags.add(tag);
+    public static void addTags(int ...tags) {
+        for(final int tag : tags) {
+            Camera.tags.add(tag);
         }
     }
 
-    public static void checkShootTagsAll(){
+    public static boolean seesTag(){
         for (final Camera camera : cameras) {
-            if(shootTagsSeen.get(camera)) {
-                areShootTagsSeen = true;
-                return;
-            }
+            if(camera.hasSeenTag) return true;
         }
-        areShootTagsSeen = false;
+        return false;
     }
 
     public static void updateAll(){
@@ -153,13 +146,10 @@ private Optional<EstimatedRobotPose> getEstimatedPose(PhotonPipelineResult resul
             if (dist > distanceThreshold || targetPoseAmbiguity > ambiguityThreshold || ignoredTags.contains(Integer.valueOf(target.getFiducialId()))) continue;
             // Make sure the target is a Fiducial target.
 
-            if(shootTags.contains(Integer.valueOf(target.getFiducialId()))) {
-                shootTagsSeen.put(this, true);
-            }
-
             if (targetPoseAmbiguity != -1 && targetPoseAmbiguity < lowestAmbiguityScore) {
                 lowestAmbiguityScore = targetPoseAmbiguity;
                 lowestAmbiguityTarget = target;
+                hasSeenTag = tags.contains(target.getFiducialId());
             }
         }
 
@@ -200,6 +190,7 @@ private void reportFiducialPoseError(int fiducialId) {
 
     public void update(){
         if (isDisabled) return;
+        hasSeenTag = false;
         lastResult = camera.getLatestResult();
         if (!lastResult.hasTargets() && NAR_Robot.logWithAdvantageKit) {
             Logger.recordOutput("Vision/" + camera.getName() + "/Position", robotPose.get());
@@ -217,7 +208,10 @@ public void update(){
 
         if(!isGoodEstimate(estPose)) {
             updateCounter++;
-            if (updateCounter <= overrideThreshold) return;
+            if (updateCounter <= overrideThreshold) {
+                hasSeenTag = false;
+                return;
+            }
         }
         else {
             updateCounter = 0;

diff --git a/src/main/resources/overview.html b/src/main/resources/overview.html
@@ -8,5 +8,5 @@
 <body>
 <h1>FRC Team 3128 Robot Control Program Utility Library</h1>
 <p>Provides utility classes and functions for FRC robot control programs.</p>
-<p>Version 1.7.3 (April 13 2024)</p>
+<p>Version 1.7.4 (April 13 2024)</p>
 </body>