vision #7
vision #7
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…ision # Conflicts: # src/main/java/frc/robot/RobotContainer.java
| private final DoubleSubscriber latencySubscriber; | ||
| private final DoubleSubscriber txSubscriber; | ||
| private final DoubleSubscriber tySubscriber; | ||
| private final DoubleArraySubscriber megatag1Subscriber; |
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No probably not I'll take it off and push again
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Actually no I wasn't exactly sure what it meant but now I think its pretty important. Is it causing any errors?
taran-duba
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taran-duba
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ok so you have the mere vision code needed to figure out where the robot is. you now need to figure out how to simulate the camera using photonvision docs and then use advantagescope to make it drive around on the field. pro tip is to make the camera a cone and then publish the cone's pose so you roughly see where it's at
taran-duba
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taran-duba
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great so far! one thing i noticed when using the camera simulator at http://localhost:1182 is that you're still on the reefscape tag map and not the crescendo one. make sure to fix that as well, wherever that may be in your code. just a few minor changes left tho!
| public static Transform3d frontCamTrans = | ||
| new Transform3d( | ||
| new Translation3d( | ||
| Units.inchesToMeters(13), | ||
| Units.inchesToMeters(0), | ||
| Units.inchesToMeters(19)), | ||
| new Rotation3d(0, Math.toRadians(-15), Math.toRadians(180))); |
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your cone is flipped facing inside the robot. the lil point at the top of the cone should be pointing outward from the robot, not inward
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| public static Transform3d robotToCamera0 = | ||
| new Transform3d(0.2, 0.0, 0.2, new Rotation3d(0.0, -0.4, 0.0)); | ||
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delete this if it's not being used
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| intakeFeederwheel = new IntakeFeederwheelSubsystem(new IntakeFeederwheelIO() {}); | ||
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| vision = new Vision(drive, new VisionIO() {}, new VisionIO() {}); |
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you only need 1 empty io here instead of 2 bc you only have 1 camera
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