refactor: april tag layout declared in sim io instead of constants

flamingchickens1540 · Feb 2, 2024 · 577b050 · 577b050
1 parent 79b12f5
commit 577b050
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Showing 2 changed files with 12 additions and 14 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -1,14 +1,10 @@
 package org.team1540.robot2024;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.util.Units;
 
-import java.io.IOException;
-
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -84,14 +80,6 @@ public static class Vision {
         public static final double MAX_ACCEPTED_AVG_TAG_DIST_METERS = 8.0;
         public static final double MAX_ACCEPTED_ELEVATOR_SPEED_MPS = 0.05;
 
-        public static final AprilTagFieldLayout SIM_APRILTAG_LAYOUT;
-        static {
-            try {
-                SIM_APRILTAG_LAYOUT = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2024Crescendo.m_resourceFile);
-            } catch (IOException e) {
-                throw new RuntimeException(e);
-            }
-        }
         public static final int SIM_RES_WIDTH = 1280;
         public static final int SIM_RES_HEIGHT = 960;
         public static final Rotation2d SIM_DIAGONAL_FOV = Rotation2d.fromDegrees(100);

diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOSim.java
@@ -1,5 +1,7 @@
 package org.team1540.robot2024.subsystems.vision;
 
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Transform3d;
@@ -11,6 +13,7 @@
 import org.photonvision.simulation.VisionSystemSim;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
+import java.io.IOException;
 import java.util.List;
 import java.util.Optional;
 import java.util.function.Supplier;
@@ -31,7 +34,14 @@ public class AprilTagVisionIOSim implements AprilTagVisionIO {
     public AprilTagVisionIOSim(String name, Pose3d cameraOffsetMeters, Supplier<Pose2d> poseSupplier) {
         this.visionSystemSim = new VisionSystemSim(name);
         this.poseSupplier = poseSupplier;
-        visionSystemSim.addAprilTags(SIM_APRILTAG_LAYOUT);
+
+        AprilTagFieldLayout aprilTagLayout;
+        try {
+            aprilTagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2024Crescendo.m_resourceFile);
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+        visionSystemSim.addAprilTags(aprilTagLayout);
 
         SimCameraProperties cameraProps = new SimCameraProperties();
         cameraProps.setCalibration(SIM_RES_WIDTH, SIM_RES_HEIGHT, SIM_DIAGONAL_FOV);
@@ -44,7 +54,7 @@ public AprilTagVisionIOSim(String name, Pose3d cameraOffsetMeters, Supplier<Pose
         visionSystemSim.addCamera(cameraSim, cameraTransform);
 
         photonEstimator = new PhotonPoseEstimator(
-                SIM_APRILTAG_LAYOUT,
+                aprilTagLayout,
                 PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR,
                 camera,
                 cameraTransform);