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Merged
Niosocket11 merged 1 commit into from
Mar 21, 2026
Merged

Made vision hopefully work #25

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9 changes: 3 additions & 6 deletions src/main/java/org/carlmontrobotics/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ public static final class Drivetrainc {
public static final double wheelDiameterMeters = Units.inchesToMeters(4.0);

public static final double mu = 1; /* 70/83.2; */ // coefficient of friction. less means less max acceleration.
public static final double ROBOTMASS_KG = Units.lbsToKilograms(104+15);// TODO weigh actual robot with bumpers and battery later
public static final double ROBOTMASS_KG = Units.lbsToKilograms(128.1);
// moment of inertia, kg/mm
// USE ONSHAPE it has a calculator for this
public static final double MOI = Math.pow(Units.inchesToMeters(1),2) * Units.lbsToKilograms(1) * 14040.21738; // 14040.21738 in^2 lb
Expand Down Expand Up @@ -256,20 +256,17 @@ public static final class Autoc {
}
//#endregion
public static class LimeLightc {
public static final String FRONT_LL = "FRONT_LL";
public static final String BACK_LL = "BACK_LL";
public static final String LEFT_LL = "LL_LEFT";
public static final String RIGHT_LL = "LL_RIGHT";

public static final int[] LL_FRONT_SHOOTING_VALID_IDS = {9,10, 12, 7, 8,5, 11, 2, 18, 27, 21, 24, 25, 26};
public static final int[] LL_BACK_SHOOTING_VALID_IDS = {13,14,15,16, 7, 12, 28, 23, 29, 30, 31, 32};
public static final int[] LL_GENERAL_VALID_IDS = {1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32};

public static final int[] LL_IDS_IGNORE_FOR_BLUE = {15,16,14,13,9,10,7,12};
public static final int[] LL_IDS_IGNORE_FOR_RED = {28, 23, 25, 26, 29,30,31,32};

public static final int[] LL_FRONT_GENERAL_CROP = {0,0,0,0}; //XMin, xMax, yMin, yMax all values (-1,1)
public static final int[] LL_BACK_GENERAL_CROP = {0,0,0,0}; //XMin, xMax, yMin, yMax all values (-1,1)
public static final int[] LL_FRONT_SHOOTING_CROP = {0,0,0,0}; //XMin, xMax, yMin, yMax all values (-1,1)
public static final int[] LL_BACK_SHOOTING_CROP = {0,0,0,0}; //XMin, xMax, yMin, yMax all values (-1,1)
}
//#region Manipulator
public static final class IntakeC {
Expand Down
2 changes: 2 additions & 0 deletions src/main/java/org/carlmontrobotics/Robot.java
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Expand Up @@ -54,6 +54,7 @@ public void disabledPeriodic() {}
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_robotContainer.drivetrain.resetPoseEstimator();
m_autonomousCommand = m_robotContainer.getAutonomousCommand();

// schedule the autonomous command (example)
Expand All @@ -75,6 +76,7 @@ public void teleopInit() {
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
m_robotContainer.drivetrain.resetFieldOrientationWithAngle(m_robotContainer.drivetrain.getPoseEstimator().getEstimatedPosition().getRotation().getDegrees());
}

/** This function is called periodically during operator control. */
Expand Down
28 changes: 12 additions & 16 deletions src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java
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Expand Up @@ -11,6 +11,7 @@
import org.carlmontrobotics.lib199.swerve.SwerveModule;
import org.carlmontrobotics.lib199.swerve.SwerveModuleSim;
import org.carlmontrobotics.lib199.vendorLibs.Elastic;
import org.carlmontrobotics.lib199.vendorLibs.LimelightHelpers;

import static org.carlmontrobotics.Config.CONFIG;

Expand Down Expand Up @@ -417,11 +418,17 @@ public void setDrivingIdleMode(boolean brake) {
private double timeStampLatestGyroWarning = 0;
private Elastic.Notification notification = new Elastic.Notification();

public void resetPoseEstimator() {
poseEstimator.resetPose(LimelightHelpers.getBotPose2d(RIGHT_LL));
}
public void resetPoseEstimator(Pose2d pose) {
poseEstimator.resetPose(pose);
}

@Override
public void periodic() {
detectCollision(); //This does nothing
//detectCollision(); //This does nothing
PathPlannerLogging.logCurrentPose(getPose());
double goal = SmartDashboard.getNumber("bigoal", 0);
for (SwerveModule module : modules) {
// module.turnPeriodic();
// module.turnPeriodic();
Expand Down Expand Up @@ -450,14 +457,9 @@ public void periodic() {
}


// field.setRobotPose(odometry.getPoseMeters());



// odometry.update(gyro.getRotation2d(), getModulePositions());

// poseEstimator.update(gyro.getRotation2d(), getModulePositions());

poseEstimator.update(gyro.getRotation2d(), getModulePositions());
poseEstimator.addVisionMeasurement(LimelightHelpers.getBotPose2d(RIGHT_LL), Timer.getFPGATimestamp());
//odometry.update(Rotation2d.fromDegrees(getHeading()), getModulePositions());

// updateMT2PoseEstimator();
Expand Down Expand Up @@ -591,7 +593,7 @@ public void AutoBuilder() {
//Supplier<Pose2d> poseSupplier,
this::getPose, // Robot pose supplier
//Consumer<Pose2d> resetPose,
this::setPoseWithLimelight, // Method to reset odometry (will be called if your auto has a starting pose)
this::resetPoseEstimator, // Method to reset odometry (will be called if your auto has a starting pose)
//Supplier<ChassisSpeeds> robotRelativeSpeedsSupplier,
this::getSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
//BiConsumer<ChassisSpeeds,DriveFeedforwards> output,
Expand Down Expand Up @@ -811,12 +813,6 @@ public void resetFieldOrientationBackwards() {
public void resetFieldOrientationWithAngle(double angle) {
fieldOffset = angle + gyro.getAngle();
}
public void resetPoseEstimator() {
// odometry.resetPosition(new Rotation2d(), getModulePositions(), new Pose2d());

poseEstimator.resetPosition(new Rotation2d(), getModulePositions(), new Pose2d());
gyro.reset();
}

public SwerveDriveKinematics getKinematics() {
return kinematics;
Expand Down
34 changes: 18 additions & 16 deletions src/main/java/org/carlmontrobotics/subsystems/Limelight.java
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Expand Up @@ -3,6 +3,8 @@

import static org.carlmontrobotics.Constants.LimeLightc.*;

import java.util.random.RandomGenerator.LeapableGenerator;

import org.carlmontrobotics.lib199.vendorLibs.LimelightHelpers;

import edu.wpi.first.math.MathUtil;
Expand All @@ -18,8 +20,8 @@ public class Limelight extends SubsystemBase {
// NEEDS TO SEE: Barge, Reef, Processor, Coral Dropoff
public Limelight() {

LimelightHelpers.SetFiducialIDFiltersOverride(FRONT_LL, LL_GENERAL_VALID_IDS);
LimelightHelpers.SetFiducialIDFiltersOverride(BACK_LL, LL_GENERAL_VALID_IDS);
//LimelightHelpers.SetFiducialIDFiltersOverride(LEFT_LL, LL_GENERAL_VALID_IDS);
LimelightHelpers.SetFiducialIDFiltersOverride(RIGHT_LL, LL_GENERAL_VALID_IDS);

}

Expand All @@ -33,12 +35,12 @@ public void periodic() {
*/
public void setCrop(boolean shootingCrop) {
if (shootingCrop) {
LimelightHelpers.setCropWindow(FRONT_LL, LL_FRONT_SHOOTING_CROP[0], LL_FRONT_SHOOTING_CROP[1], LL_FRONT_SHOOTING_CROP[2], LL_FRONT_SHOOTING_CROP[3]);
LimelightHelpers.setCropWindow(BACK_LL, LL_BACK_SHOOTING_CROP[0], LL_BACK_SHOOTING_CROP[1], LL_BACK_SHOOTING_CROP[2], LL_BACK_SHOOTING_CROP[3]);
LimelightHelpers.setCropWindow(RIGHT_LL, LL_FRONT_SHOOTING_CROP[0], LL_FRONT_SHOOTING_CROP[1], LL_FRONT_SHOOTING_CROP[2], LL_FRONT_SHOOTING_CROP[3]);
//LimelightHelpers.setCropWindow(LEFT_LL, LL_BACK_SHOOTING_CROP[0], LL_BACK_SHOOTING_CROP[1], LL_BACK_SHOOTING_CROP[2], LL_BACK_SHOOTING_CROP[3]);
}
else {
LimelightHelpers.setCropWindow(FRONT_LL, LL_FRONT_GENERAL_CROP[0], LL_FRONT_GENERAL_CROP[1], LL_FRONT_GENERAL_CROP[2], LL_FRONT_GENERAL_CROP[3]);
LimelightHelpers.setCropWindow(BACK_LL, LL_BACK_GENERAL_CROP[0], LL_BACK_GENERAL_CROP[1], LL_BACK_GENERAL_CROP[2], LL_BACK_GENERAL_CROP[3]);
LimelightHelpers.setCropWindow(RIGHT_LL, LL_FRONT_GENERAL_CROP[0], LL_FRONT_GENERAL_CROP[1], LL_FRONT_GENERAL_CROP[2], LL_FRONT_GENERAL_CROP[3]);
//LimelightHelpers.setCropWindow(BACK_LL, LL_BACK_GENERAL_CROP[0], LL_BACK_GENERAL_CROP[1], LL_BACK_GENERAL_CROP[2], LL_BACK_GENERAL_CROP[3]);
}
}

Expand All @@ -51,27 +53,27 @@ public void setIDFilters(boolean redAlliance, boolean shootingFilter) {
if (redAlliance) {
if (shootingFilter) {
int[] frontFilter = difference(LL_FRONT_SHOOTING_VALID_IDS, LL_IDS_IGNORE_FOR_RED);
int[] backFilter = difference(LL_BACK_SHOOTING_VALID_IDS, LL_IDS_IGNORE_FOR_RED);
LimelightHelpers.SetFiducialIDFiltersOverride(FRONT_LL, frontFilter);
LimelightHelpers.SetFiducialIDFiltersOverride(BACK_LL, backFilter);
//int[] backFilter = difference(LL_BACK_SHOOTING_VALID_IDS, LL_IDS_IGNORE_FOR_RED);
LimelightHelpers.SetFiducialIDFiltersOverride(RIGHT_LL, frontFilter);
//LimelightHelpers.SetFiducialIDFiltersOverride(LEFT_LL, backFilter);
}
else {
int[] filter = difference(LL_GENERAL_VALID_IDS, LL_IDS_IGNORE_FOR_RED);
LimelightHelpers.SetFiducialIDFiltersOverride(FRONT_LL, filter);
LimelightHelpers.SetFiducialIDFiltersOverride(BACK_LL, filter);
LimelightHelpers.SetFiducialIDFiltersOverride(RIGHT_LL, filter);
//LimelightHelpers.SetFiducialIDFiltersOverride(LEFT_LL, filter);
}
}
else {
if (shootingFilter) {
int[] frontFilter = difference(LL_FRONT_SHOOTING_VALID_IDS, LL_IDS_IGNORE_FOR_BLUE);
int[] backFilter = difference(LL_BACK_SHOOTING_VALID_IDS, LL_IDS_IGNORE_FOR_BLUE);
LimelightHelpers.SetFiducialIDFiltersOverride(FRONT_LL, frontFilter);
LimelightHelpers.SetFiducialIDFiltersOverride(BACK_LL, backFilter);
//int[] backFilter = difference(LL_BACK_SHOOTING_VALID_IDS, LL_IDS_IGNORE_FOR_BLUE);
LimelightHelpers.SetFiducialIDFiltersOverride(RIGHT_LL, frontFilter);
//LimelightHelpers.SetFiducialIDFiltersOverride(LEFT_LL, backFilter);
}
else {
int[] filter = difference(LL_GENERAL_VALID_IDS, LL_IDS_IGNORE_FOR_BLUE);
LimelightHelpers.SetFiducialIDFiltersOverride(FRONT_LL, filter);
LimelightHelpers.SetFiducialIDFiltersOverride(BACK_LL, filter);
LimelightHelpers.SetFiducialIDFiltersOverride(RIGHT_LL, filter);
// LimelightHelpers.SetFiducialIDFiltersOverride(LEFT_LL, filter);
}
}
}
Expand Down