FRC-Swerve-Template/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

currentTarget

private final PhotonTrackedTarget currentTarget

Gets the current tracked target.

dist

private final Double dist

distanceToAprilTag

private final Double distanceToAprilTag

estimatedGlobalPose

private final Transform3d estimatedGlobalPose

INSTANCE

public final static PhotonVision INSTANCE

targetPoseAmbiguity

private final Double targetPoseAmbiguity

Gets the current target pose ambiguity.

private final Double y

yaw

private final Double yaw

Gets the current yaw angle to the target.

Functions

getCurrentTarget

public final PhotonTrackedTarget getCurrentTarget()

getDist

public final Double getDist()

getDistanceToAprilTag

public final Double getDistanceToAprilTag()

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

getEstimatedGlobalPose

public final Transform3d getEstimatedGlobalPose()

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

public final EstimatedRobotPose getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose)

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

getTargetPoseAmbiguity

public final Double getTargetPoseAmbiguity()

getY

public final Double getY()

getYaw

public final Double getYaw()

hasTag

public final Boolean hasTag()

Checks if there is a visible AprilTag.

periodic

public Unit periodic()

This method is called periodically by the CommandScheduler. It updates the tracked targets, selects the best camera based on pose ambiguity, and updates dashboard information.