Vision demo #170
Vision demo #170
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| @@ -40,6 +40,11 @@ public final class Constants { | |||
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| /** The voltage to turn the warning lights on. */ | |||
| public static final double MIN_BATTERY_VOLTAGE = 12.5; | |||
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| public static final double CAMERA_PITCH_RADIANS = 1.0; | |||
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1 Radian is incorrect, it should be 0 (same as the horizion)
| @@ -103,7 +104,8 @@ public RobotContainer() { | |||
| driveTrain.setDefaultCommand( | |||
| new DriveCommand(driveTrain, rightJoystick::getY, rightJoystick::getX)); | |||
| } else { | |||
| driveTrain.setDefaultCommand(driveTrain.stopCommand()); | |||
| // driveTrain.setDefaultCommand(driveTrain.stopCommand()); | |||
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This code should not be push to main if this is being done. Instead of making a pull request, either convert this to a draft or close the PR and just use the branch.
| private double startAngle; | ||
| private double startDistance; | ||
| private final SlewRateLimiter speedSlewRateLimiter = | ||
| new SlewRateLimiter(DriveConstants.SLEW_RATE_LIMITER / 2); |
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Is there a reason this is being divided by 2? Should it be in constants separately?
| private double startDistance; | ||
| private final SlewRateLimiter speedSlewRateLimiter = | ||
| new SlewRateLimiter(DriveConstants.SLEW_RATE_LIMITER / 2); | ||
| private double maxSpeed = 0; // in meters/sec |
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This should defiantly not be 0, -1 should be used for max speed
| private double maxSpeed = 0; // in meters/sec | ||
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| // Change this to match the name of your camera | ||
| PhotonCamera camera = new PhotonCamera("photonvision"); |
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this should be the name of the camera, not the name of the host. EG: Logitech_Pro_4260
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This should also be private/final
| // drivetrain.arcadeDrive(speed, -turnError); | ||
| } | ||
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| // Called once the command ends or is interrupted. |
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Change to proper comments
| /** | ||
| * Sets the max speed for driving straight | ||
| * | ||
| * @param maxSpeed max speed in meters/second. 0 indicates no speed limit. |
| double targetWidth = Units.inchesToMeters(41.30) - Units.inchesToMeters(6.70); // meters | ||
| // See | ||
| // https://firstfrc.blob.core.windows.net/frc2020/PlayingField/2020FieldDrawing-SeasonSpecific.pdf | ||
| // page 197 |
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There is built in methods for defining the 2023 field. No need to specify specific dimensions. Also I would use april tags for localiation
| new Translation3d(tgtXPos, tgtYPos, Constants.TARGET_HEIGHT_METERS), | ||
| new Rotation3d(0.0, 0.0, 0.0)); | ||
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| double camDiagFOV = 170.0; // degrees - assume wide-angle camera |
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our current camera is 90.
| new Rotation3d(0.0, 0.0, 0.0)); | ||
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| double camDiagFOV = 170.0; // degrees - assume wide-angle camera | ||
| double camPitch = Units.radiansToDegrees(Constants.CAMERA_PITCH_RADIANS); // degrees |
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im pretty sure this should be in radians
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