SwerveBaseTemplate/frc.robot.subsystems/PhotonModule

PhotonModule

public class PhotonModule

The CameraModule class represents a single Photonvision camera setup with its associated pose estimator and position information. This class encapsulates all the functionality needed for a single camera to track AprilTags and estimate robot pose.

Constructors

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public void PhotonModule(String cameraName, Transform3d cameraPos, AprilTagFieldLayout fieldLayout)
Creates a new CameraModule with the specified parameters.

Functions

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public List<PhotonPipelineResult> getAllUnreadResults()
Gets all unread pipeline results from the camera.
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public Transform3d getCameraPosition()
Gets the camera's position relative to the robot.
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public PhotonPoseEstimator getPoseEstimator()
Gets the pose estimator associated with this camera.