Implement Vision

* get timestamps in Odometry thread * add constant to disable logging * bump deps * Fix previous spotless errors bump seems to fix previous groovy spam * add vision IO * Create VisionBase.java * also log detect tag poses * NFC * Create VisionIOSim.java * NFC * Log if the camera is connected * add working pose estimator * add updated vision sorting algorithm * bump pv * Merge main into vision commit a43936f Author: Sriman Achanta <[email protected]> Date: Tue Feb 27 14:30:02 2024 -0500 fix shooter inversion bug commit 9df7e28 Author: Sriman Achanta <[email protected]> Date: Tue Feb 27 13:52:00 2024 -0500 Add Intake (#3) * add subsystem code * init subsystem * add wrist tuning * add comment * add bounds * add updated steady state errors * address review comments commit 869de88 Author: Sriman Achanta <[email protected]> Date: Tue Feb 27 09:42:10 2024 -0500 add shooter steady state error commit 390ed0f Author: Sriman Achanta <[email protected]> Date: Tue Feb 27 09:38:50 2024 -0500 add final shooter characterization commit b49cc45 Author: Sriman Achanta <[email protected]> Date: Tue Feb 27 00:46:46 2024 -0500 use internal PID controller for shooter should help reduce the oscillation error commit cae4652 Author: Sriman Achanta <[email protected]> Date: Mon Feb 26 18:44:50 2024 -0500 update CI commit 937e39e Author: Sriman Achanta <[email protected]> Date: Mon Feb 26 18:42:16 2024 -0500 Update ShooterState.java commit 0d5c7d1 Author: Sriman Achanta <[email protected]> Date: Mon Feb 26 17:17:02 2024 -0500 add updated erector coefficents commit e799c1e Author: Sriman Achanta <[email protected]> Date: Sat Feb 24 20:02:57 2024 -0500 docs commit aa40004 Merge: 9e308db 5845a1c Author: Sriman Achanta <[email protected]> Date: Sat Feb 24 17:22:04 2024 -0500 Merge branch 'main' of https://github.com/Talon540Programming/Crescendo2024 commit 9e308db Author: Sriman Achanta <[email protected]> Date: Sat Feb 24 17:21:59 2024 -0500 also log shooter position to ascope commit eb2269e Author: Sriman Achanta <[email protected]> Date: Sat Feb 24 17:20:41 2024 -0500 add drive tuning coefficents commit 73970c3 Author: Sriman Achanta <[email protected]> Date: Sat Feb 24 16:27:01 2024 -0500 add shooter tuning stuff commit 5845a1c Author: Sriman Achanta <[email protected]> Date: Sat Feb 24 16:27:01 2024 -0500 add shooter tuning stuff * Update Photonlib.json * more stuff with cameras Added calibration data for cameras added new drivetrain, intake, and shooter models to ascope config Fixed ascope config bug with Intake added camera config to ascope config added camera pose info to constants * fixes * Update Constants.java * Update Camera Positions * use calibration files for SIM SIM cameras are now identical to IRL minus error * use scented bias matrix in determining vision stdevs also reduces the stdevs for multitag and single tag while increasing ambiguity, this should increase initial convergence rate (along with more cameras) * Update Constants.java * undo cad change --------- Co-authored-by: Ayush Pal <[email protected]>
Talon540Programming · Mar 13, 2024 · e69b04e · e69b04e
1 parent 3bfee6e
commit e69b04e
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Showing 14 changed files with 129,155 additions and 8 deletions.
diff --git a/ascope_assets/Robot_TALON2024/config.json b/ascope_assets/Robot_TALON2024/config.json
@@ -16,7 +16,116 @@
     0,
     0
   ],
-  "cameras": [],
+  "cameras": [
+    {
+      "name": "UNDER_SHOOTER",
+      "position": [
+        -0.330312,
+        0.138773,
+        0.157061
+      ],
+      "rotations": [
+        {
+          "axis": "x",
+          "degrees": 0
+        },
+        {
+          "axis": "y",
+          "degrees": -30
+        },
+        {
+          "axis": "z",
+          "degrees": 180
+        }
+      ],
+      "resolution": [
+        1280,
+        720
+      ],
+      "fov": 75
+    },
+    {
+      "name": "BACK_LEFT",
+      "position": [
+        -0.285206,
+        0.283806,
+        0.272624
+      ],
+      "rotations": [
+        {
+          "axis": "x",
+          "degrees": 0
+        },
+        {
+          "axis": "y",
+          "degrees": -20
+        },
+        {
+          "axis": "z",
+          "degrees": 135
+        }
+      ],
+      "resolution": [
+        1280,
+        720
+      ],
+      "fov": 75
+    },
+    {
+      "name": "FRONT_LEFT",
+      "position": [
+        0.278740,
+        0.280968,
+        0.272098
+      ],
+      "rotations": [
+        {
+          "axis": "x",
+          "degrees": 0
+        },
+        {
+          "axis": "y",
+          "degrees": -45
+        },
+        {
+          "axis": "z",
+          "degrees": -22.5
+        }
+      ],
+      "resolution": [
+        1280,
+        720
+      ],
+      "fov": 75
+    },
+    {
+      "name": "FRONT_RIGHT",
+      "position": [
+        0.281034,
+        -0.278751,
+        0.272098
+      ],
+      "rotations": [
+        {
+          "axis": "x",
+          "degrees": 0
+        },
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+          "degrees": -45
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+        {
+          "axis": "z",
+          "degrees": 67.5
+        }
+      ],
+      "resolution": [
+        1280,
+        720
+      ],
+      "fov": 75
+    }
+  ],
   "components": [
     {
       "zeroedRotations": [
@@ -43,21 +152,21 @@
       "zeroedRotations": [
         {
           "axis": "z",
-          "degrees": 0
+          "degrees": 90
         },
         {
           "axis": "x",
-          "degrees": 180
+          "degrees": 0
         },
         {
           "axis": "y",
-          "degrees": 55
+          "degrees": 90
         }
       ],
       "zeroedPosition": [
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         0,
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diff --git a/build.gradle b/build.gradle
@@ -3,6 +3,7 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "2024.3.1"
     id "com.peterabeles.gversion" version "1.10.2"
     id "com.diffplug.spotless" version "6.24.0"
+    id "io.freefair.lombok" version "8.4"
 }
 
 java {