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Add note vision subsystem #54

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merged 5 commits into from
Sep 23, 2024
Merged

Add note vision subsystem #54

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9c0e9cc
feat: notevision io classes
mimizh2418 Sep 13, 2024
01012c0
feat: add note vision subsystem
mimizh2418 Sep 13, 2024
c92b957
fix: correct target area units
mimizh2418 Sep 15, 2024
eb4eb21
fix: use rotation3ds for returning gamepiece positions
mimizh2418 Sep 16, 2024
9648739
fix: make limelight name shorter
mimizh2418 Sep 16, 2024
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3 changes: 1 addition & 2 deletions src/main/java/org/team1540/robot2024/Constants.java
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Expand Up @@ -110,10 +110,8 @@ public static class Vision {
public static class AprilTag {
public static final String FRONT_CAMERA_NAME = "limelight-front";
public static final String REAR_CAMERA_NAME = "limelight-rear";
public static final String VISION_CAMERA_NAME = "limelight-vision";
public static final Pose3d FRONT_CAMERA_POSE = new Pose3d(0.086018, 0, 0.627079, new Rotation3d(0, Math.toRadians(-40.843), 0));
public static final Pose3d REAR_CAMERA_POSE = new Pose3d(0.046049, 0, 0.540510, new Rotation3d(Math.PI, Math.toRadians(10), Math.PI+Math.toRadians(1.55)));
public static final Pose3d VISION_CAMERA_POSE = new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0)); //TODO FIND THIS POSE
public static final boolean TAKE_SNAPSHOTS = true;
public static final double SNAPSHOT_PERIOD_SECS = 1;
public static final double XY_STD_DEV_COEFF = 0.1;
Expand All @@ -134,6 +132,7 @@ public static class AprilTag {
public static class Gamepiece {
public static final String CAMERA_NAME = "limelight-notevision";
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public static final int PIPELINE_INDEX = 0;
public static final Pose3d CAMERA_POSE = new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0)); //TODO FIND THIS POSE
}
}

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3 changes: 1 addition & 2 deletions src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVision.java
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Expand Up @@ -25,8 +25,7 @@ public void periodic() {
public GamepieceDetection getLatestDetection() {
return new GamepieceDetection(
inputs.lastDetectionTimestampSecs,
inputs.targetPitchRads,
inputs.targetYawRads,
inputs.targetRotation.rotateBy(CAMERA_POSE.getRotation().unaryMinus()),
inputs.targetArea,
inputs.targetClass);
}
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4 changes: 2 additions & 2 deletions src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVisionIO.java
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
package org.team1540.robot2024.subsystems.vision.gamepiece;

import edu.wpi.first.math.geometry.Rotation3d;
import org.littletonrobotics.junction.AutoLog;

public interface NoteVisionIO {
@AutoLog
class NoteVisionIOInputs {
public boolean hasDetection = false;
public double lastDetectionTimestampSecs = 0.0;
public double targetPitchRads = 0.0;
public double targetYawRads = 0.0;
public Rotation3d targetRotation = new Rotation3d(); // Camera-relative target rotation
public double targetArea = 0.0;
public String targetClass = "";
}
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9 changes: 7 additions & 2 deletions src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVisionIOLimelight.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package org.team1540.robot2024.subsystems.vision.gamepiece;

import edu.wpi.first.math.geometry.Rotation3d;
import org.team1540.robot2024.util.vision.LimelightHelpers;

import static org.team1540.robot2024.Constants.Vision.Gamepiece.*;
Expand All @@ -22,8 +23,12 @@ public void updateInputs(NoteVisionIOInputs inputs) {
(LimelightHelpers.getLimelightNTTableEntry(name, "tv").getLastChange() / 1000000.0)
- ((LimelightHelpers.getLatency_Capture(name) + LimelightHelpers.getLatency_Pipeline(name))
/ 1000.0);
inputs.targetPitchRads = Math.toRadians(LimelightHelpers.getTY(name));
inputs.targetYawRads = Math.toRadians(LimelightHelpers.getTX(name));
//TODO check rotation signs
inputs.targetRotation =
new Rotation3d(
0,
-Math.toRadians(LimelightHelpers.getTY(name)),
Math.toRadians(LimelightHelpers.getTX(name)));
inputs.targetArea = LimelightHelpers.getTA(name);
inputs.targetClass = LimelightHelpers.getNeuralClassID(name);
}
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7 changes: 4 additions & 3 deletions src/main/java/org/team1540/robot2024/util/vision/GamepieceDetection.java
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Original file line number Diff line number Diff line change
@@ -1,8 +1,9 @@
package org.team1540.robot2024.util.vision;

import edu.wpi.first.math.geometry.Rotation3d;

public record GamepieceDetection(
double timestampSecs,
double yawRads,
double pitchRads,
double areaRads,
Rotation3d rotation, // Robot relative gamepiece rotation
double area,
String targetClass) {}
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