Package frc.robot.utils

Class VisionUtils

java.lang.Object
frc.robot.utils.VisionUtils
public class VisionUtils extends Object

  • Field Details

    • noteLimelight

      public static edu.wpi.first.networktables.NetworkTable noteLimelight

    • height

      public static double height

    • forward

      public static double forward

  • Constructor Details

    • VisionUtils

      public VisionUtils()

  • Method Details

    • visionEnabled

      public static void visionEnabled(boolean b)
      Toggle if vision is enable or not
      Parameters:
      b - Set if vision is enabled or not

    • getBotPoseFieldSpace

      public static edu.wpi.first.math.geometry.Pose3d getBotPoseFieldSpace()
      Gets the bots position relative to the field. Used by odometry
      Returns:
      The bots position

    • getBotPoseTargetSpace

      public static edu.wpi.first.math.geometry.Pose3d getBotPoseTargetSpace()
      Gets the bots position relative to the target. Used by AlignCommand
      Returns:
      The bots position

    • getDistanceFromTag

      public static double getDistanceFromTag()
      Gets the distance from the first visible AprilTag
      Returns:
      The distance (in meters) from the AprilTag

    • getLatencyPipeline

      public static double getLatencyPipeline()
      Gets the latency from the pipeline
      Returns:
      The latency

    • getLatencyCapture

      public static double getLatencyCapture()
      Gets the latency from capturing
      Returns:
      The latency

    • getNoteTX

      public static double getNoteTX()

    • getNoteTY

      public static double getNoteTY()

    • getNoteTV

      public static double getNoteTV()

    • YDistanceToNote

      public static double YDistanceToNote()

    • XDistanceToNote

      public static double XDistanceToNote()

    • distanceToNote

      public static double distanceToNote()