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Create vision subsystem #38

Merged
merged 12 commits into from
Dec 7, 2023
Merged

Create vision subsystem #38

merged 12 commits into from
Dec 7, 2023

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IanTapply22
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@IanTapply22 IanTapply22 commented Dec 4, 2023 •
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Description

Created a vision subsystem that can be used for the drive odometry, tracking our position on the field, or for tracking game objects.

Fixes #36

Type of change

Please delete options that are not relevant.

  • New feature (non-breaking change which adds functionality)

Checklist:

  • My code follows the style guidelines of this project
  • I have performed a self-review of my code
  • I have commented my code, particularly in hard-to-understand areas
  • I have made corresponding changes to the documentation, if any
  • My changes generate no new warnings
  • I have performed tests that prove my fix is effective or that my feature works, if necessary
  • New and existing unit tests pass locally with my changes

IanTapply22 added 2 commits December 3, 2023 21:27
Create a base limelight/vision subsystem
28b2a51
Used 'this' for appropriate variables
4414e11 
Created helper methods for setting functionality of limelights
Moved PoseAndTimestamp to separate class instead of being an inner class
@IanTapply22 IanTapply22 added the enhancement New feature or request label Dec 4, 2023
@IanTapply22 IanTapply22 self-assigned this Dec 4, 2023
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Forgot to add documentation on how to use and implement this subsystem into a robot, this will be implemented ASAP. You can still review this though 🙂

@IanTapply22 IanTapply22 linked an issue Dec 4, 2023 that may be closed by this pull request
Create vision subsystem #36
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@IanTapply22 IanTapply22 mentioned this pull request Dec 4, 2023
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IanTapply22 and others added 2 commits December 5, 2023 10:19
Made variable names clearer
d57e6c7 
Remove redundant comments
Move limelight botpose to a separate object for clarity
Attached the network table value entry right to led mode and stream pipeline
Google Java Format
9b44289
colemacphail
colemacphail reviewed Dec 6, 2023
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@colemacphail colemacphail left a comment

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Looks good so far. Once that other comment is addressed I'll stamp this.

src/main/java/frc/robot/subsystems/limelight/Limelight.java Outdated Show resolved Hide resolved
src/main/java/frc/robot/subsystems/limelight/LimelightPoseData.java Show resolved Hide resolved
colemacphail
colemacphail approved these changes Dec 7, 2023
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lgtm

@IanTapply22 IanTapply22 merged commit 6a93d2e into 2024-beta Dec 7, 2023
@IanTapply22 IanTapply22 deleted the 36/create-vision-subsystem branch December 7, 2023 03:58
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@colemacphail colemacphail colemacphail approved these changes

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@IanTapply22 IanTapply22

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Create vision subsystem
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@IanTapply22 @colemacphail