parsejson edits (pt 1)

also prepare for release
gonna frick this up

3128-Common.json

@@ -1,6 +1,6 @@
 {
   "name": "3128-common",
-  "version": "1.7.6",
+  "version": "1.7.7",
   "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
   "frcYear": "2024",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.github.Team3128",
       "artifactId": "3128-common",
-      "version": "1.7.6"
+      "version": "1.7.7"
     }
   ],
   "jniDependencies": [],

3128-common.json

@@ -1,6 +1,6 @@
 {
   "name": "3128-common",
-  "version": "1.7.6",
+  "version": "1.7.7",
   "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
   "frcYear": "2024",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.github.Team3128",
       "artifactId": "3128-common",
-      "version": "1.7.6"
+      "version": "1.7.7"
     }
   ],
   "jniDependencies": [],

doc/index.html

@@ -51,7 +51,7 @@ <h1 class="title">3128-common</h1>
 </div>
 <div class="block"><h1>FRC Team 3128 Robot Control Program Utility Library</h1>
 <p>Provides utility classes and functions for FRC robot control programs.</p>
-<p>Version 1.7.6 (May 14 2024)</p></div>
+<p>Version 1.7.7 (May 24 2024)</p></div>
 <div id="all-packages-table">
 <div class="caption"><span>Packages</span></div>
 <div class="summary-table two-column-summary">

gradle.properties

@@ -1,4 +1,4 @@
-LibraryVersion=1.7.6
+LibraryVersion=1.7.7
 archivesGroup = com.github.Team3128
 archivesBaseName = 3128-common
 jsonFileName = 3128-common.json

src/main/java/common/hardware/camera/ParseJson.java

@@ -17,7 +17,7 @@
 
 public class ParseJson {
 
-    HashMap<Integer, Pose3d> offseasonTags = new HashMap<Integer, Pose3d>();
+    HashMap<Integer, Pose3d> aprilTags = new HashMap<Integer, Pose3d>();
     public ParseJson(String filepath){
 
       Object obj = new Object();
@@ -37,31 +37,31 @@ public ParseJson(String filepath){
       // typecasting obj to JSONObject 
       JSONObject jo = (JSONObject) obj; 
 
-      JSONArray poses = ((JSONArray) jo.get("tags")); 
+      JSONArray tags = ((JSONArray) jo.get("tags")); 
 
 
-      for (int i = 0; i < poses.size(); i++) {
-        JSONObject tag = (JSONObject) poses.get(i);
+      for (int i = 0; i < tags.size(); i++) {
+        JSONObject tag = (JSONObject) tags.get(i);
         JSONObject pose = (JSONObject) tag.get("pose");
         JSONObject translation = (JSONObject) pose.get("translation");
         JSONObject rotation = (JSONObject) pose.get("rotation");
-        double rotationW = Double.parseDouble(rotation.get("W").toString());
-        double rotationX = Double.parseDouble(rotation.get("X").toString());
-        double rotationY = Double.parseDouble(rotation.get("Y").toString());
-        double rotationZ = Double.parseDouble(rotation.get("Z").toString());
-        Quaternion quaternion = new Quaternion(rotationW, rotationX, rotationY,rotationZ);
+        JSONObject quaternion = (JSONObject) rotation.get("quaternion");
+        double rotationW = Double.parseDouble(quaternion.get("W").toString());
+        double rotationX = Double.parseDouble(quaternion.get("X").toString());
+        double rotationY = Double.parseDouble(quaternion.get("Y").toString());
+        double rotationZ = Double.parseDouble(quaternion.get("Z").toString());
+        Quaternion quaternion3d = new Quaternion(rotationW, rotationX, rotationY,rotationZ);
         double translationx = Double.parseDouble(translation.get("x").toString());
         double translationy = Double.parseDouble(translation.get("y").toString());
         double translationz = Double.parseDouble(translation.get("z").toString());
         Translation3d translation3d = new Translation3d(translationx, translationy, translationz);
-        Pose3d apriltag = new Pose3d(translation3d, new Rotation3d(quaternion));
+        Pose3d aprilTag = new Pose3d(translation3d, new Rotation3d(quaternion3d));
         // System.out.print(i + " " + translation.get("x"));
-        offseasonTags.put(i, apriltag);
+        aprilTags.put(i, aprilTag);
       }
-
     }
 
     public HashMap<Integer, Pose3d> returnHashMap(){
-        return offseasonTags;
+        return aprilTags;
     }
 }

src/main/resources/overview.html

@@ -8,5 +8,5 @@
 <body>
 <h1>FRC Team 3128 Robot Control Program Utility Library</h1>
 <p>Provides utility classes and functions for FRC robot control programs.</p>
-<p>Version 1.7.6 (May 14 2024)</p>
+<p>Version 1.7.7 (May 24 2024)</p>
 </body>