diff --git a/3128-Common.json b/3128-Common.json index edfa931..8ad3964 100644 --- a/3128-Common.json +++ b/3128-Common.json @@ -1,6 +1,6 @@ { "name": "3128-common", - "version": "1.7.3", + "version": "1.7.4", "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445", "frcYear": "2024", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.github.Team3128", "artifactId": "3128-common", - "version": "1.7.3" + "version": "1.7.4" } ], "jniDependencies": [], diff --git a/3128-common.json b/3128-common.json index edfa931..8ad3964 100644 --- a/3128-common.json +++ b/3128-common.json @@ -1,6 +1,6 @@ { "name": "3128-common", - "version": "1.7.3", + "version": "1.7.4", "uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445", "frcYear": "2024", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.github.Team3128", "artifactId": "3128-common", - "version": "1.7.3" + "version": "1.7.4" } ], "jniDependencies": [], diff --git a/doc/common/hardware/camera/Camera.html b/doc/common/hardware/camera/Camera.html index 58ca3a8..247ad49 100644 --- a/doc/common/hardware/camera/Camera.html +++ b/doc/common/hardware/camera/Camera.html @@ -94,21 +94,18 @@

Field Summary

Modifier and Type
Field
Description
-
static boolean
-
areShootTagsSeen
+
static final LinkedList<Camera>
+
cameras
 
-
static final LinkedList<Camera>
-
cameras
+
static double
+
overrideThreshold
 
-
static double
-
overrideThreshold
+
static int
+
updateCounter
 
-
static int
-
updateCounter
+
static double
+
validDist
 
-
static double
-
validDist
-
 
@@ -145,41 +142,41 @@

Method Summary

addIgnoredTags(int... ignoredTags)
 
static void
-
addShootTags(int... shootTags)
+
addTags(int... tags)
 
static void
-
checkShootTagsAll()
-
 
-
static void
-
configCameras(edu.wpi.first.apriltag.AprilTagFields aprilTagLayout, +
configCameras(edu.wpi.first.apriltag.AprilTagFields aprilTagLayout, org.photonvision.PhotonPoseEstimator.PoseStrategy calc_strategy, BiConsumer<edu.wpi.first.math.geometry.Pose2d,Double> odometry, Supplier<edu.wpi.first.math.geometry.Pose2d> robotPose)
-
 
-
void
-
disable()
-
 
-
static void
-
disableAll()
-
 
-
void
-
enable()
-
 
-
static void
-
enableAll()
-
 
-
org.photonvision.targeting.PhotonPipelineResult
-
getLatestResult()
-
 
-
edu.wpi.first.math.geometry.Transform3d
-
getOffset()
+
 
+
void
+
disable()
 
-
void
-
initShuffleboard()
+
static void
+
disableAll()
+
 
+
void
+
enable()
+
 
+
static void
+
enableAll()
+
 
+
org.photonvision.targeting.PhotonPipelineResult
+
getLatestResult()
+
 
+
edu.wpi.first.math.geometry.Transform3d
+
getOffset()
 
-
boolean
-
isGoodEstimate(edu.wpi.first.math.geometry.Pose2d pose)
+
void
+
initShuffleboard()
 
+
boolean
+
isGoodEstimate(edu.wpi.first.math.geometry.Pose2d pose)
+
 
+
static boolean
+
seesTag()
+
 
static void
setAllDistanceThreshold(double distThreshold)
 
@@ -213,12 +210,6 @@

Methods inherited from cl

Field Details

FRC Team 3128 Robot Control Program Utility Library

Provides utility classes and functions for FRC robot control programs.

-

Version 1.7.3 (April 13 2024)

+

Version 1.7.4 (April 13 2024)

Packages
diff --git a/doc/member-search-index.js b/doc/member-search-index.js index 7230e2f..ef44a41 100644 --- a/doc/member-search-index.js +++ b/doc/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.EncoderType","l":"Absolute"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"ABSOLUTE"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem.SetpointTest","l":"add()"},{"p":"common.utility.sysid","c":"FFCharacterization","l":"add(double, double, double)","u":"add(double,double,double)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addAction(String, 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\ No newline at end of file diff --git a/gradle.properties b/gradle.properties index 7e5a440..433626e 100644 --- a/gradle.properties +++ b/gradle.properties @@ -1,4 +1,4 @@ -LibraryVersion=1.7.3 +LibraryVersion=1.7.4 archivesGroup = com.github.Team3128 archivesBaseName = 3128-common jsonFileName = 3128-common.json diff --git a/src/main/java/common/hardware/camera/Camera.java b/src/main/java/common/hardware/camera/Camera.java index 7d25b8f..cbd2fa0 100644 --- a/src/main/java/common/hardware/camera/Camera.java +++ b/src/main/java/common/hardware/camera/Camera.java @@ -5,8 +5,6 @@ import java.util.function.BiConsumer; import java.util.function.Supplier; import java.util.ArrayList; -import java.util.HashMap; - import org.littletonrobotics.junction.Logger; import org.photonvision.EstimatedRobotPose; import org.photonvision.PhotonCamera; @@ -32,16 +30,14 @@ */ public class Camera { - public static boolean areShootTagsSeen = false; - - private static ArrayList shootTags = new ArrayList(); + private static ArrayList tags = new ArrayList(); - private static HashMap shootTagsSeen = new HashMap(); + private boolean hasSeenTag; public static int updateCounter = 0; public static double validDist = 0.5; - public static double overrideThreshold = 30; + public static double overrideThreshold = 5; private final PhotonCamera camera; private final Transform3d offset; @@ -54,7 +50,7 @@ public class Camera { private static PoseStrategy calc_strategy; private static BiConsumer odometry; private static Supplier robotPose; - private static double ambiguityThreshold = 0.2; + private static double ambiguityThreshold = 0.3; private static ArrayList ignoredTags = new ArrayList(); @@ -78,7 +74,7 @@ public Camera(String name, double xOffset, double yOffset, double yawOffset, dou } cameras.add(this); - shootTagsSeen.put(this, false); + hasSeenTag = false; } public static void configCameras(AprilTagFields aprilTagLayout, PoseStrategy calc_strategy, BiConsumer odometry, Supplier robotPose){ @@ -94,20 +90,17 @@ public static void addIgnoredTags(int ...ignoredTags) { } } - public static void addShootTags(int ...shootTags) { - for(final int tag : shootTags) { - Camera.shootTags.add(tag); + public static void addTags(int ...tags) { + for(final int tag : tags) { + Camera.tags.add(tag); } } - public static void checkShootTagsAll(){ + public static boolean seesTag(){ for (final Camera camera : cameras) { - if(shootTagsSeen.get(camera)) { - areShootTagsSeen = true; - return; - } + if(camera.hasSeenTag) return true; } - areShootTagsSeen = false; + return false; } public static void updateAll(){ @@ -153,13 +146,10 @@ private Optional getEstimatedPose(PhotonPipelineResult resul if (dist > distanceThreshold || targetPoseAmbiguity > ambiguityThreshold || ignoredTags.contains(Integer.valueOf(target.getFiducialId()))) continue; // Make sure the target is a Fiducial target. - if(shootTags.contains(Integer.valueOf(target.getFiducialId()))) { - shootTagsSeen.put(this, true); - } - if (targetPoseAmbiguity != -1 && targetPoseAmbiguity < lowestAmbiguityScore) { lowestAmbiguityScore = targetPoseAmbiguity; lowestAmbiguityTarget = target; + hasSeenTag = tags.contains(target.getFiducialId()); } } @@ -200,6 +190,7 @@ private void reportFiducialPoseError(int fiducialId) { public void update(){ if (isDisabled) return; + hasSeenTag = false; lastResult = camera.getLatestResult(); if (!lastResult.hasTargets() && NAR_Robot.logWithAdvantageKit) { Logger.recordOutput("Vision/" + camera.getName() + "/Position", robotPose.get()); @@ -217,7 +208,10 @@ public void update(){ if(!isGoodEstimate(estPose)) { updateCounter++; - if (updateCounter <= overrideThreshold) return; + if (updateCounter <= overrideThreshold) { + hasSeenTag = false; + return; + } } else { updateCounter = 0; diff --git a/src/main/resources/overview.html b/src/main/resources/overview.html index 984f9ad..be7acf8 100644 --- a/src/main/resources/overview.html +++ b/src/main/resources/overview.html @@ -8,5 +8,5 @@

FRC Team 3128 Robot Control Program Utility Library

Provides utility classes and functions for FRC robot control programs.

-

Version 1.7.3 (April 13 2024)

+

Version 1.7.4 (April 13 2024)

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