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Addressable leds #45

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228 changes: 220 additions & 8 deletions src/main/java/com/team4099/utils/LimelightHelpers.java
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
package com.team4099.utils;//com.team4099.utils.LimelightHelpers v1.2.1 (March 1, 2023)
package com.team4099.utils;//com.team4099.utils.LimelightHelpers
//LimelightHelpers v1.5.0 (March 27, 2024)

import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
Expand Down Expand Up @@ -301,6 +302,18 @@ public static class Results {
@JsonProperty("botpose_wpiblue")
public double[] botpose_wpiblue;

@JsonProperty("botpose_tagcount")
public double botpose_tagcount;

@JsonProperty("botpose_span")
public double botpose_span;

@JsonProperty("botpose_avgdist")
public double botpose_avgdist;

@JsonProperty("botpose_avgarea")
public double botpose_avgarea;

@JsonProperty("t6c_rs")
public double[] camerapose_robotspace;

Expand Down Expand Up @@ -361,8 +374,59 @@ public static class LimelightResults {
@JsonProperty("Results")
public Results targetingResults;

public String error;

public LimelightResults() {
targetingResults = new Results();
error = "";
}


}

public static class RawFiducial {
public int id;
public double txnc;
public double tync;
public double ta;
public double distToCamera;
public double distToRobot;
public double ambiguity;


public RawFiducial(int id, double txnc, double tync, double ta, double distToCamera, double distToRobot, double ambiguity) {
this.id = id;
this.txnc = txnc;
this.tync = tync;
this.ta = ta;
this.distToCamera = distToCamera;
this.distToRobot = distToRobot;
this.ambiguity = ambiguity;
}
}

public static class PoseEstimate {
public Pose2d pose;
public double timestampSeconds;
public double latency;
public int tagCount;
public double tagSpan;
public double avgTagDist;
public double avgTagArea;
public RawFiducial[] rawFiducials;

public PoseEstimate(Pose2d pose, double timestampSeconds, double latency,
int tagCount, double tagSpan, double avgTagDist,
double avgTagArea, RawFiducial[] rawFiducials) {

this.pose = pose;
this.timestampSeconds = timestampSeconds;
this.latency = latency;
this.tagCount = tagCount;
this.tagSpan = tagSpan;
this.avgTagDist = avgTagDist;
this.avgTagArea = avgTagArea;
this.rawFiducials = rawFiducials;
}
}

Expand All @@ -383,7 +447,7 @@ static final String sanitizeName(String name) {
private static Pose3d toPose3D(double[] inData){
if(inData.length < 6)
{
System.err.println("Bad LL 3D Pose Data!");
//System.err.println("Bad LL 3D Pose Data!");
return new Pose3d();
}
return new Pose3d(
Expand All @@ -395,14 +459,94 @@ private static Pose3d toPose3D(double[] inData){
private static Pose2d toPose2D(double[] inData){
if(inData.length < 6)
{
System.err.println("Bad LL 2D Pose Data!");
//System.err.println("Bad LL 2D Pose Data!");
return new Pose2d();
}
Translation2d tran2d = new Translation2d(inData[0], inData[1]);
Rotation2d r2d = new Rotation2d(Units.degreesToRadians(inData[5]));
return new Pose2d(tran2d, r2d);
}

private static double extractBotPoseEntry(double[] inData, int position){
if(inData.length < position+1)
{
return 0;
}
return inData[position];
}

private static PoseEstimate getBotPoseEstimate(String limelightName, String entryName) {
var poseEntry = LimelightHelpers.getLimelightNTTableEntry(limelightName, entryName);
var poseArray = poseEntry.getDoubleArray(new double[0]);
var pose = toPose2D(poseArray);
double latency = extractBotPoseEntry(poseArray,6);
int tagCount = (int)extractBotPoseEntry(poseArray,7);
double tagSpan = extractBotPoseEntry(poseArray,8);
double tagDist = extractBotPoseEntry(poseArray,9);
double tagArea = extractBotPoseEntry(poseArray,10);
//getlastchange() in microseconds, ll latency in milliseconds
var timestamp = (poseEntry.getLastChange() / 1000000.0) - (latency/1000.0);


RawFiducial[] rawFiducials = new RawFiducial[tagCount];
int valsPerFiducial = 7;
int expectedTotalVals = 11 + valsPerFiducial*tagCount;

if (poseArray.length != expectedTotalVals) {
// Don't populate fiducials
}
else{
for(int i = 0; i < tagCount; i++) {
int baseIndex = 11 + (i * valsPerFiducial);
int id = (int)poseArray[baseIndex];
double txnc = poseArray[baseIndex + 1];
double tync = poseArray[baseIndex + 2];
double ta = poseArray[baseIndex + 3];
double distToCamera = poseArray[baseIndex + 4];
double distToRobot = poseArray[baseIndex + 5];
double ambiguity = poseArray[baseIndex + 6];
rawFiducials[i] = new RawFiducial(id, txnc, tync, ta, distToCamera, distToRobot, ambiguity);
}
}

return new PoseEstimate(pose, timestamp,latency,tagCount,tagSpan,tagDist,tagArea,rawFiducials);
}

private static void printPoseEstimate(PoseEstimate pose) {
if (pose == null) {
System.out.println("No PoseEstimate available.");
return;
}

System.out.printf("Pose Estimate Information:%n");
System.out.printf("Timestamp (Seconds): %.3f%n", pose.timestampSeconds);
System.out.printf("Latency: %.3f ms%n", pose.latency);
System.out.printf("Tag Count: %d%n", pose.tagCount);
System.out.printf("Tag Span: %.2f meters%n", pose.tagSpan);
System.out.printf("Average Tag Distance: %.2f meters%n", pose.avgTagDist);
System.out.printf("Average Tag Area: %.2f%% of image%n", pose.avgTagArea);
System.out.println();

if (pose.rawFiducials == null || pose.rawFiducials.length == 0) {
System.out.println("No RawFiducials data available.");
return;
}

System.out.println("Raw Fiducials Details:");
for (int i = 0; i < pose.rawFiducials.length; i++) {
RawFiducial fiducial = pose.rawFiducials[i];
System.out.printf(" Fiducial #%d:%n", i + 1);
System.out.printf(" ID: %d%n", fiducial.id);
System.out.printf(" TXNC: %.2f%n", fiducial.txnc);
System.out.printf(" TYNC: %.2f%n", fiducial.tync);
System.out.printf(" TA: %.2f%n", fiducial.ta);
System.out.printf(" Distance to Camera: %.2f meters%n", fiducial.distToCamera);
System.out.printf(" Distance to Robot: %.2f meters%n", fiducial.distToRobot);
System.out.printf(" Ambiguity: %.2f%n", fiducial.ambiguity);
System.out.println();
}
}

public static NetworkTable getLimelightNTTable(String tableName) {
return NetworkTableInstance.getDefault().getTable(sanitizeName(tableName));
}
Expand Down Expand Up @@ -542,8 +686,8 @@ public static double getFiducialID(String limelightName) {
return getLimelightNTDouble(limelightName, "tid");
}

public static double getNeuralClassID(String limelightName) {
return getLimelightNTDouble(limelightName, "tclass");
public static String getNeuralClassID(String limelightName) {
return getLimelightNTString(limelightName, "tclass");
}

/////
Expand Down Expand Up @@ -602,6 +746,28 @@ public static Pose2d getBotPose2d_wpiBlue(String limelightName) {
return toPose2D(result);
}

/**
* Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the BLUE
* alliance
*
* @param limelightName
* @return
*/
public static PoseEstimate getBotPoseEstimate_wpiBlue(String limelightName) {
return getBotPoseEstimate(limelightName, "botpose_wpiblue");
}

/**
* Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the BLUE
* alliance
*
* @param limelightName
* @return
*/
public static PoseEstimate getBotPoseEstimate_wpiBlue_MegaTag2(String limelightName) {
return getBotPoseEstimate(limelightName, "botpose_orb_wpiblue");
}

/**
* Gets the Pose2d for easy use with Odometry vision pose estimator
* (addVisionMeasurement)
Expand All @@ -616,6 +782,26 @@ public static Pose2d getBotPose2d_wpiRed(String limelightName) {

}

/**
* Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED
* alliance
* @param limelightName
* @return
*/
public static PoseEstimate getBotPoseEstimate_wpiRed(String limelightName) {
return getBotPoseEstimate(limelightName, "botpose_wpired");
}

/**
* Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED
* alliance
* @param limelightName
* @return
*/
public static PoseEstimate getBotPoseEstimate_wpiRed_MegaTag2(String limelightName) {
return getBotPoseEstimate(limelightName, "botpose_orb_wpired");
}

/**
* Gets the Pose2d for easy use with Odometry vision pose estimator
* (addVisionMeasurement)
Expand All @@ -641,6 +827,11 @@ public static void setPipelineIndex(String limelightName, int pipelineIndex) {
setLimelightNTDouble(limelightName, "pipeline", pipelineIndex);
}


public static void setPriorityTagID(String limelightName, int ID) {
setLimelightNTDouble(limelightName, "priorityid", ID);
}

/**
* The LEDs will be controlled by Limelight pipeline settings, and not by robot
* code.
Expand Down Expand Up @@ -694,6 +885,28 @@ public static void setCropWindow(String limelightName, double cropXMin, double c
setLimelightNTDoubleArray(limelightName, "crop", entries);
}

public static void SetRobotOrientation(String limelightName, double yaw, double yawRate,
double pitch, double pitchRate,
double roll, double rollRate) {

double[] entries = new double[6];
entries[0] = yaw;
entries[1] = yawRate;
entries[2] = pitch;
entries[3] = pitchRate;
entries[4] = roll;
entries[5] = rollRate;
setLimelightNTDoubleArray(limelightName, "robot_orientation_set", entries);
}

public static void SetFiducialIDFiltersOverride(String limelightName, int[] validIDs) {
double[] validIDsDouble = new double[validIDs.length];
for (int i = 0; i < validIDs.length; i++) {
validIDsDouble[i] = validIDs[i];
}
setLimelightNTDoubleArray(limelightName, "fiducial_id_filters_set", validIDsDouble);
}

public static void setCameraPose_RobotSpace(String limelightName, double forward, double side, double up, double roll, double pitch, double yaw) {
double[] entries = new double[6];
entries[0] = forward;
Expand Down Expand Up @@ -763,7 +976,7 @@ public static LimelightResults getLatestResults(String limelightName) {
try {
results = mapper.readValue(getJSONDump(limelightName), LimelightResults.class);
} catch (JsonProcessingException e) {
System.err.println("lljson error: " + e.getMessage());
results.error = "lljson error: " + e.getMessage();
}

long end = System.nanoTime();
Expand All @@ -775,5 +988,4 @@ public static LimelightResults getLatestResults(String limelightName) {

return results;
}
}

}
11 changes: 7 additions & 4 deletions src/main/kotlin/com/team4099/robot2023/RobotContainer.kt
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIOSim
import com.team4099.robot2023.subsystems.drivetrain.gyro.GyroIO
import com.team4099.robot2023.subsystems.drivetrain.gyro.GyroIOPigeon2
import com.team4099.robot2023.subsystems.elevator.Elevator
import com.team4099.robot2023.subsystems.elevator.ElevatorIONEO
import com.team4099.robot2023.subsystems.elevator.ElevatorIO
import com.team4099.robot2023.subsystems.elevator.ElevatorIOSim
import com.team4099.robot2023.subsystems.feeder.Feeder
import com.team4099.robot2023.subsystems.feeder.FeederIONeo
Expand All @@ -28,6 +28,7 @@ import com.team4099.robot2023.subsystems.intake.IntakeIOFalconNEO
import com.team4099.robot2023.subsystems.intake.IntakeIOSim
import com.team4099.robot2023.subsystems.limelight.LimelightVision
import com.team4099.robot2023.subsystems.limelight.LimelightVisionIO
import com.team4099.robot2023.subsystems.limelight.LimelightVisionIOReal
import com.team4099.robot2023.subsystems.superstructure.Request
import com.team4099.robot2023.subsystems.superstructure.Superstructure
import com.team4099.robot2023.subsystems.vision.Vision
Expand Down Expand Up @@ -77,10 +78,10 @@ object RobotContainer {

drivetrain = Drivetrain(GyroIOPigeon2, DrivetrainIOReal)
vision = Vision(object : CameraIO {}, CameraIOPhotonvision("parakeet_2"))
limelight = LimelightVision(object : LimelightVisionIO {})
limelight = LimelightVision(LimelightVisionIOReal)
intake = Intake(IntakeIOFalconNEO)
feeder = Feeder(FeederIONeo)
elevator = Elevator(ElevatorIONEO)
elevator = Elevator(object : ElevatorIO {})
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flywheel = Flywheel(FlywheelIOTalon)
wrist = Wrist(WristIOTalon)
} else {
Expand All @@ -95,7 +96,8 @@ object RobotContainer {
wrist = Wrist(WristIOSim)
}

superstructure = Superstructure(intake, feeder, elevator, wrist, flywheel, drivetrain, vision)
superstructure =
Superstructure(intake, feeder, elevator, wrist, flywheel, drivetrain, vision, limelight)
vision.setDataInterfaces(
{ drivetrain.fieldTRobot },
{ drivetrain.addVisionData(it) },
Expand Down Expand Up @@ -161,6 +163,7 @@ object RobotContainer {
}

fun mapTeleopControls() {
limelight.limelightState = LimelightVision.LimelightStates.TARGETING_GAME_PIECE

ControlBoard.resetGyro.whileTrue(ResetGyroYawCommand(drivetrain))
ControlBoard.intake.whileTrue(
Expand Down
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