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Added PhotonVision/Camera Usage #19

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Added PhotonVision/Camera Usage #19

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cool-cellist
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ApriltagInfo.java

  • Uses an AprilTag ID to get its color and area of the field (coral feeder, algae procesor, etc.)
  • It also contains a PhotonTrackedTarget object for future positioning/alignment code

Camera.java

  • Contains PhotonVision objects and camera placement info
  • Added to make the computer vision code more modular
  • Need to fill in the coordinates and rotation of each camera after the robot has been built

CameraUtilities.java

  • updateVisionWithCamera(Camera camera, SwerveDrivePoseEstimator m_odometry) Updates the odometry of the given drivetrain using a camera
  • doAprilTagTask(Camera cam, Area taskArea) Uses a camera to see if we can do the given task (alignment/positioning)
  • will fill in the empty methods for alignment/positioning within the different areas of the field

Miscellaneous

  • Three .json files for: PhotonLib 2025, AdvantageKit, and Phoenix 6

@cool-cellist cool-cellist self-assigned this Jan 11, 2025
@cool-cellist cool-cellist linked an issue Jan 12, 2025 that may be closed by this pull request
Integrate PhotonVision Localization #13
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Ferris-Bueller7
Ferris-Bueller7 requested changes Jan 12, 2025
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please fix commenting.

Big-Bad-Wolf-2025/src/main/java/frc/robot/PhotonVision/AprilTagInfo.java
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Missing Java docs on methods please go through and make sure all methods and constructors have appropriate java docs.

Big-Bad-Wolf-2025/src/main/java/frc/robot/PhotonVision/CameraUtilities.java
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Missing Java docs on methods please go through and make sure all methods and constructors have appropriate java docs.

@cool-cellist
Added AprilTagInfo class, Camera class, and CameraUtilities class
df52dbb 
Minor improvements to readability

Added Comments

FIxed bracket formatting and javadocs commenting
@cool-cellist
Reworked/renamed ComputerVisionTask to AprilTagTask, added RotateToAn…
efdfc7c 
…gle command, added AprilTag alignment code, and did some refactoring changes
@cool-cellist cool-cellist changed the title Added AprilTagInfo class, Camera class, and CameraUtilities class Added PhotonVision/Camera Usage Jan 22, 2025
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Integrate PhotonVision Localization
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@cool-cellist @Ferris-Bueller7 @jasonsoohoo