Vision

Vision testing has begun. Looking at using GRIP

[todo: insert image of vision workflow in GRIP]

untested code for getting lines:

`package org.usfirst.frc.team340.robot.subsystems;

import java.util.ArrayList;

import edu.wpi.first.wpilibj.command.Subsystem; import edu.wpi.first.wpilibj.networktables.NetworkTable;

/**

• jumpman jumpman jumpman them boys up to something */ public class VisionNetwork extends Subsystem {

  // Put methods for controlling this subsystem // here. Call these from Commands.

  NetworkTable table;

  public VisionNetwork() { table = NetworkTable.getTable("GRIP/linesReport"); }

  public void initDefaultCommand() { // Set the default command for a subsystem here. //setDefaultCommand(new MySpecialCommand()); }

  // i wish we had ez pz json in java

  /**

  • kinda a nasty way to get lines. returns a double[][]
  • lines[0] -> double[] of lengths
  • lines[1] -> double[] of x1
  • lines[2] -> double[] of x2
  • lines[3] -> double[] of y1
  • lines[4] -> double[] of y2
  • lines[5] -> double[] of angles
  • JSON would make this 1000x easier...
  • @return double[][] lines */

  public double[][] getLines() {

   double[] defaultValue = new double[0];
   
   double[] lengths = table.getNumberArray("length", defaultValue);
   double[] x1s = table.getNumberArray("x1", defaultValue);
   double[] x2s = table.getNumberArray("x2", defaultValue);
   double[] y1s = table.getNumberArray("y1", defaultValue);
   double[] y2s = table.getNumberArray("y2", defaultValue);
   double[] angles = table.getNumberArray("angle", defaultValue);
   
   double[][] ultimate = {lengths, x1s, x2s, y1s, y2s, angles};
   
   return ultimate;
  

  } }`