Package frc8768.visionlib

Class PhotonVision

java.lang.Object

frc8768.visionlib.PhotonVision

All Implemented Interfaces:

Vision

public class PhotonVision
extends Object
implements Vision

Impl for photonvision for Vision-related things.

Constructor Summary

Constructors

Constructor	Description
PhotonVision(String name)

Method Summary

Modifier and Type	Method	Description
void	changePipeline(int index)	Change the current pipeline.
double	getDistanceToTarget(double mountAngle, double mountHeight, double goalHeight, boolean topY)	Get the Distance to target via trigonometry.
double	getMaxPointY()	Sometimes, you may want to find the maximum Y for corners for the intake to suck in the top of a cone, or cube.
List<org.photonvision.targeting.PhotonTrackedTarget>	getTargets()	Get all targets.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

PhotonVision

public PhotonVision(String name)

Parameters:

name - Camera hostname

Method Details

getTargets

public List<org.photonvision.targeting.PhotonTrackedTarget> getTargets()

Get all targets.

Specified by:

getTargets in interface Vision

Returns:

All targets in view.

changePipeline

public void changePipeline(int index)

Change the current pipeline.

Specified by:

changePipeline in interface Vision

Parameters:

index - Pipeline index, depends on your configuration.

getDistanceToTarget

public double getDistanceToTarget(double mountAngle,
 double mountHeight,
 double goalHeight,
 boolean topY)

Get the Distance to target via trigonometry.

Specified by:

getDistanceToTarget in interface Vision

Parameters:

mountAngle - The amount of degrees back the limelight is.

mountHeight - Height in inches from center of limelight lens to floor.

goalHeight - Distance in inches from floor to center of target.

topY - Get the top most location from the camera. See this method.

Returns:

Distance to target, returns -1 on fail.

getMaxPointY

public double getMaxPointY()

Sometimes, you may want to find the maximum Y for corners for the intake to suck in the top of a cone, or cube. This function is helpful for that.

Specified by:

getMaxPointY in interface Vision

Returns:

The maximum Y point for all corners, or -1 if none is found