camera class

FRC830 · Oct 20, 2024 · a455a94 · a455a94
1 parent dd3958e
commit a455a94
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Showing 5 changed files with 104 additions and 2 deletions.
diff --git a/src/main/cpp/Camera.cpp b/src/main/cpp/Camera.cpp
@@ -0,0 +1,23 @@
+#include <string>
+#include <photon/PhotonCamera.h>
+#include <Camera.h>
+
+
+int Camera::id()
+{
+    return target.GetFiducialId();
+}
+double Camera::yaw()
+{
+    return target.GetYaw();
+}
+double Camera::pitch()
+{
+    return target.GetPitch();
+}
+Camera::Camera(std::string name)
+{
+    camera = photon::PhotonCamera {name};
+    result = camera.GetLatestResult();
+    target = result.GetBestTarget();
+}
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -19,7 +19,6 @@ void Robot::updateDashBoardValues() {
   frc::SmartDashboard::PutNumber("Measured Launcher Angle", _robot_control_data.launcherOutput.launcherAngle);
 
 };
-
 void Robot::RobotInit() {
   // m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
   // m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);

diff --git a/src/main/include/Camera.h b/src/main/include/Camera.h
@@ -0,0 +1,23 @@
+#include <string>
+#include <photon/PhotonCamera.h>
+
+class Camera
+{
+    private:
+    /*
+        double yaw = target.GetYaw();
+        double pitch = target.GetPitch();
+        int targetID = target.GetFiducialId();
+        double poseAmbiguity = target.GetPoseAmbiguity();
+        */
+       photon::PhotonCamera camera;
+       photon::PhotonPipelineResult result;
+       photon::PhotonTrackedTarget target;
+
+    public:
+        int id();
+        //double ambiguity();
+        double yaw();
+        double pitch();
+        Camera(std::string name);
+};
diff --git a/src/main/include/ControllerInterface.h b/src/main/include/ControllerInterface.h
@@ -16,5 +16,5 @@ class ControllerInterface
 
         frc::XboxController m_pilot{0};
         frc::XboxController m_copilot{1};
-        double m_slowmodefactor = 0.5;
+        double m_slowmodefactor = 0.25;
 };
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
@@ -0,0 +1,57 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2024.3.1",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-cpp",
+            "version": "v2024.3.1",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2024.3.1",
+            "libName": "photontargeting",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-java",
+            "version": "v2024.3.1"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-java",
+            "version": "v2024.3.1"
+        }
+    ]
+}