SwerveBaseTemplate

SwerveBaseTemplate/frc.robot.subsystems/PhotonVision

PhotonVision

public class PhotonVision extends SubsystemBase

The PhotonVision class is a subsystem that interfaces with multiple PhotonVision cameras to provide vision tracking and pose estimation capabilities. This subsystem is a Singleton that manages multiple CameraModules and selects the best result based on pose ambiguity.

This subsystem provides methods to get the estimated global pose of the robot, the distance to targets, and the yaw of detected AprilTags. It also provides methods to check if a tag is visible and get the pivot position based on distance calculations.

Properties

public PhotonTrackedTarget currentTarget

public double dist

targetPoseAmbiguity

public double targetPoseAmbiguity

public double y

public double yaw

Functions

getCurrentTarget

public PhotonTrackedTarget getCurrentTarget()

Gets the current tracked target.

public double getDist()

getDistanceAprilTag

public double getDistanceAprilTag()

Calculates the straight-line distance to the currently tracked AprilTag.

getEstimatedGlobalPose

public Transform3d getEstimatedGlobalPose()

Gets the estimated global pose of the robot as a Transform3d.

public EstimatedRobotPose getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose)

Gets the estimated global pose of the robot using the best available camera.

public static PhotonVision getInstance()

Returns the Singleton instance of this PhotonVision subsystem.

getPivotPosition

public double getPivotPosition()

Calculates the pivot position based on the distance to the AprilTag.

getTargetPoseAmbiguity

public double getTargetPoseAmbiguity()

Gets the current target pose ambiguity.

public double getY()

public double getYaw()

Gets the current yaw angle to the target.

public boolean hasTag()

Checks if there is a visible AprilTag.

public void periodic()

This method is called periodically by the CommandScheduler.