Merge branch 'main' into auto-drive-onto-ball

build.gradle

@@ -54,6 +54,8 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
 
+    implementation 'org.apache.commons:commons-math3:3.6.1'
+
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 

limelight/Intake blue.vpr

@@ -0,0 +1,68 @@
+area_max:100
+area_min:7.311616000000002
+area_similarity:0
+aspect_max:3.794947199999998
+aspect_min:0.3001249999999999
+black_level:0
+blue_balance:2500
+calibration_type:0
+contour_grouping:0
+contour_sort_final:0
+convexity_max:100
+convexity_min:77.2
+corner_approx:5.000000
+crop_x_max:1
+crop_x_min:-1
+crop_y_max:0.13
+crop_y_min:-1
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Pipeline_Name
+desired_contour_region:0
+dilation_steps:0
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:1
+exposure:1200
+force_convex:1
+hue_max:129
+hue_min:99
+image_flip:1
+image_source:0
+img_to_show:0
+intersection_filter:0
+invert_hue:0
+multigroup_max:7
+multigroup_min:1
+multigroup_rejector:0
+pipeline_led_enabled:0
+pipeline_led_power:100
+pipeline_res:0
+pipeline_type:0
+red_balance:1988
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:107
+send_corners:0
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:43
+x_outlier_miqr:1.5
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:1.5

limelight/Intake red.vpr

@@ -0,0 +1,68 @@
+area_max:100
+area_min:7.311616000000002
+area_similarity:0
+aspect_max:3.794947199999998
+aspect_min:0.3001249999999999
+black_level:0
+blue_balance:2500
+calibration_type:0
+contour_grouping:0
+contour_sort_final:0
+convexity_max:100
+convexity_min:77.2
+corner_approx:5.000000
+crop_x_max:1
+crop_x_min:-1
+crop_y_max:0.13
+crop_y_min:-1
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Pipeline_Name
+desired_contour_region:0
+dilation_steps:0
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:0
+exposure:1200
+force_convex:1
+hue_max:175
+hue_min:154
+image_flip:1
+image_source:0
+img_to_show:0
+intersection_filter:0
+invert_hue:0
+multigroup_max:7
+multigroup_min:1
+multigroup_rejector:0
+pipeline_led_enabled:0
+pipeline_led_power:100
+pipeline_res:0
+pipeline_type:0
+red_balance:1646
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:202
+send_corners:0
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:132
+x_outlier_miqr:1.5
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:1.5

limelight/Shooter.vpr

@@ -0,0 +1,68 @@
+area_max:100
+area_min:0.0017850625000000004
+area_similarity:15
+aspect_max:20.000000
+aspect_min:0.000000
+black_level:5
+blue_balance:1331
+calibration_type:0
+contour_grouping:3
+contour_sort_final:0
+convexity_max:100
+convexity_min:10
+corner_approx:5.000000
+crop_x_max:1.000000
+crop_x_min:-1.000000
+crop_y_max:1.000000
+crop_y_min:-1.000000
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Pipeline_Name
+desired_contour_region:0
+dilation_steps:0
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:0
+exposure:2
+force_convex:1
+hue_max:89
+hue_min:55
+image_flip:1
+image_source:0
+img_to_show:0
+intersection_filter:0
+invert_hue:0
+multigroup_max:5
+multigroup_min:3
+multigroup_rejector:1
+pipeline_led_enabled:0
+pipeline_led_power:100
+pipeline_res:0
+pipeline_type:0
+red_balance:1599
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:81
+send_corners:1
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:85
+x_outlier_miqr:0.7
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:1.6