New branch to merge pose estimator #40
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CMalohn16
commented
Mar 25, 2024
CMalohn16
commented
- Improves upon vision processing with the vision header and source files.
- Adds the photon pose estimator to estimate where we are on the field.
CMalohn16
commented
Mar 25, 2024
| frc::SmartDashboard::PutNumber("DJSLHLDJOSJDODKJSKBDBSHBSBDXXXXXXX", p.X().value()); | ||
| frc::SmartDashboard::PutNumber("DJSLHLDJOSJDODKJSKBDBSHBSBDddfdfdfYYYYYYYY", p.Y().value()); | ||
| frc::SmartDashboard::PutNumber("DJSLHLDJOSJDODKJSKBDBSHBSBDdfdfdfdfdfdfdfdZZZZZZZZZ", p.Z().value()); | ||
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The three print statements above are used to print the pose for debugging
aldryd
reviewed
Mar 25, 2024
| @@ -137,6 +138,8 @@ class Robot : public frc::TimedRobot { | |||
| // Shooter camera | |||
| photon::PhotonCamera a_camera{SHOOTER_CAMERA_NAME}; | |||
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| Vision a_Vision; | |||
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| frc::AprilTagFieldLayout aprilTagFieldLayout = frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo); | |||
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If this is all encapsulated in the Vision class now, this would be safe to delete from the Robot class.
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