Add a pose buffer for vision measurements #136
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modified: .github/workflows/create-dependabot-labels.yaml
new file: src/main/java/frc/robot/subsystems/vision/FRC254/RobotState.java new file: src/main/java/frc/robot/subsystems/vision/FRC254/VisionFieldPoseEstimate.java new file: src/main/java/frc/robot/subsystems/vision/FRC254/VisionSubsystem.java new file: src/main/java/frc/robot/subsystems/vision/FRC6328/RobotState.java new file: src/main/java/frc/robot/subsystems/vision/FRC6328/Vision.java new file: src/main/java/frc/robot/subsystems/vision/FRC6328/VisionConstants.java
modified: src/main/java/frc/robot/Constants.java new file: src/main/java/frc/robot/subsystems/vision/FRC254/FiducialObservation.java new file: src/main/java/frc/robot/subsystems/vision/FRC254/MegatagPoseEstimate.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/RobotState.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/VisionFieldPoseEstimate.java new file: src/main/java/frc/robot/subsystems/vision/FRC254/VisionIO.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/VisionSubsystem.java modified: src/main/java/frc/robot/subsystems/vision/Vision.java modified: src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java modified: src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java new file: src/main/java/frc/robot/util/ConcurrentTimeInterpolatableBuffer.java new file: src/main/java/frc/robot/util/LimelightHelpers.java new file: src/main/java/frc/robot/util/MathHelpers.java new file: src/main/java/frc/robot/util/RobotTime.java new file: src/main/java/frc/robot/util/Util.java
Next step is to mesh in the parts of the vision code I need for the circular vision buffer to the base vision subsystem. new file: src/main/java/frc/robot/subsystems/vision/FRC254/Constants.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/FiducialObservation.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/MegatagPoseEstimate.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/RobotState.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/VisionSubsystem.java new file: src/main/java/frc/robot/util/ServoMotorSubsystemConfig.java
new file: src/main/java/frc/robot/subsystems/vision/FRC180/CoralDetector.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/CoralDetectorReal.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/CoralDetectorSim.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/Field.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/LEDSubsystem.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/ReefProximity.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/VisionIO.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/VisionIOLimelight.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/VisionIOPhoton.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/VisionSubsystem.java new file: src/main/java/frc/robot/subsystems/vision/FRC6995/Vision.java new file: src/main/java/frc/robot/util/TriConsumer.java
The vision subsystem from FRC180 / SPAM now builds within the 2486 code base. Next steps are to figure out which parts of the various vision combination schemes I want to use and hack together something! modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/CameraStatus.java modified: src/main/java/frc/robot/subsystems/vision/FRC180/CoralDetectorSim.java modified: src/main/java/frc/robot/subsystems/vision/FRC180/Field.java modified: src/main/java/frc/robot/subsystems/vision/FRC180/LEDSubsystem.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/LimelightStatus.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/SimCamera.java new file: src/main/java/frc/robot/subsystems/vision/FRC180/SimLogic.java modified: src/main/java/frc/robot/subsystems/vision/FRC180/VisionIOLimelight.java modified: src/main/java/frc/robot/subsystems/vision/FRC180/VisionIOPhoton.java modified: src/main/java/frc/robot/subsystems/vision/FRC180/VisionSubsystem.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/Constants.java modified: src/main/java/frc/robot/util/LimelightHelpers.java
modified: src/main/java/frc/robot/Constants.java new file: src/main/java/frc/robot/commands/DriveToPose.java new file: src/main/java/frc/robot/commands/DriveToPoseFast.java
modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java
modified: src/main/java/frc/robot/subsystems/vision/FRC254/Constants.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/FiducialObservation.java new file: src/main/java/frc/robot/subsystems/vision/FRC254/LedState.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/MegatagPoseEstimate.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/RobotState.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/VisionFieldPoseEstimate.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/VisionIO.java modified: src/main/java/frc/robot/subsystems/vision/FRC254/VisionSubsystem.java modified: src/main/java/frc/robot/subsystems/vision/Vision.java new file: src/main/java/frc/robot/util/FieldConstants.java
modified: .github/workflows/create-dependabot-labels.yaml
Create a pose buffer and use timestamps to match vision values with those from odometry to reduce jitter. Also be able to define certain tags in whose location we trust more (e.g. HUB in 2026) in the event of field misshappenness. Weave the new Vision structure together with the drivetrain to allow for timestamped pose insertion into the estimator.
tbowers7
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Vision subsystem based on ideas from FRC254, FRC180, and FRC6995. This reduces jitter and allows for more control over how the code responds to different tags.
Closes #88 .