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package frc.robot.subsystems.vision; | ||
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import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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import edu.wpi.first.apriltag.AprilTagFieldLayout; | ||
import edu.wpi.first.math.geometry.Pose2d; | ||
import edu.wpi.first.math.geometry.Transform2d; | ||
import frc.robot.subsystems.drive.DriveBase; | ||
import org.photonvision.PhotonPoseEstimator.PoseStrategy; | ||
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public class VisionBase { | ||
public VisionIO m_io; | ||
public DriveBase m_drive; | ||
public VisionInputsAutoLogged m_inputs; | ||
public Pose2d lastPose2d; | ||
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public VisionBase( | ||
VisionIO io, | ||
Transform2d cameraToRobot, | ||
DriveBase drive | ||
) { | ||
m_io = io; | ||
m_inputs = new VisionInputsAutoLogged(); | ||
} | ||
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public void periodic() { | ||
} | ||
} |
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package frc.robot.subsystems.vision; | ||
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public interface VisionIO extends LoggedIO<VisionInputs>{ | ||
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} |
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src/main/java/frc/robot/subsystems/vision/VisionIOCamera.java
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package frc.robot.subsystems.vision; | ||
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public class VisionIOCamera implements VisionIO { | ||
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} |
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{ | ||
"fileName": "photonlib.json", | ||
"name": "photonlib", | ||
"version": "v2024.1.2", | ||
"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": "v2024.1.2", | ||
"libName": "photonlib", | ||
"headerClassifier": "headers", | ||
"sharedLibrary": true, | ||
"skipInvalidPlatforms": true, | ||
"binaryPlatforms": [ | ||
"windowsx86-64", | ||
"linuxathena", | ||
"linuxx86-64", | ||
"osxuniversal" | ||
] | ||
}, | ||
{ | ||
"groupId": "org.photonvision", | ||
"artifactId": "photontargeting-cpp", | ||
"version": "v2024.1.2", | ||
"libName": "photontargeting", | ||
"headerClassifier": "headers", | ||
"sharedLibrary": true, | ||
"skipInvalidPlatforms": true, | ||
"binaryPlatforms": [ | ||
"windowsx86-64", | ||
"linuxathena", | ||
"linuxx86-64", | ||
"osxuniversal" | ||
] | ||
} | ||
], | ||
"javaDependencies": [ | ||
{ | ||
"groupId": "org.photonvision", | ||
"artifactId": "photonlib-java", | ||
"version": "v2024.1.2" | ||
}, | ||
{ | ||
"groupId": "org.photonvision", | ||
"artifactId": "photontargeting-java", | ||
"version": "v2024.1.2" | ||
} | ||
] | ||
} |