VisionSubsystem Class Reference

Inheritance diagram for VisionSubsystem:

Public Member Functions
	VisionSubsystem ()
void	Periodic () override
	Will be called periodically whenever the CommandScheduler runs. More...
bool	GetValidTarget ()
double	GetDistance ()
	Retrieves the distance calculation from the target via the limelight. More...
double	GetAngle ()
void	SetLED (bool on)

Protected Member Functions
double	DegreesToRadians (double degrees)

Private Attributes
shared_ptr< NetworkTable >	m_dashboard
shared_ptr< NetworkTable >	m_networktable
bool	m_led
double	m_tx
double	m_ty
bool	m_validTarget
vector< double >	m_averageDistance
vector< double >	m_averageAngle

Detailed Description

Definition at line 19 of file VisionSubsystem.h.

Constructor & Destructor Documentation

VisionSubsystem::VisionSubsystem

(

)

Definition at line 5 of file VisionSubsystem.cpp.

References m_averageAngle, m_averageDistance, and SetLED().

 : m_dashboard (nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard"))
 , m_networktable(nt::NetworkTableInstance::GetDefault().GetTable("limelight"))
 , m_led(true)
 , m_tx(0)
 , m_ty(0)
 , m_validTarget(false)
{
    SetLED(true);
    m_averageDistance.reserve(3);
    m_averageAngle.reserve(3);
}

Member Function Documentation

void VisionSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

Definition at line 18 of file VisionSubsystem.cpp.

References Util::DegreesToRadians(), GetAngle(), GetDistance(), VisionConstants::kMaxTargetDistance, VisionConstants::kMinTargetDistance, VisionConstants::kMountingAngle, VisionConstants::kMountingHeight, VisionConstants::kTargetHeight, m_averageAngle, m_averageDistance, m_led, m_networktable, m_tx, m_ty, and m_validTarget.

{
    m_validTarget = m_networktable->GetNumber("tv", 0);

    if (!m_led)
        m_validTarget = false;

    m_tx = m_networktable->GetNumber("tx", 0.0);
    m_ty = m_networktable->GetNumber("ty", 0.0);

    double verticalAngle = kMountingAngle + m_ty;    
    double horizontalAngle = m_tx;  // in degrees
    
    double distance = (kTargetHeight - kMountingHeight) / tanf(Util::DegreesToRadians(verticalAngle));
    
    if ((distance < kMinTargetDistance) || (distance > kMaxTargetDistance))
        m_validTarget = false;

    if (!m_validTarget)
    {
        m_averageDistance.clear();
        m_averageAngle.clear();
        return;
    }

    m_averageDistance.push_back(distance);
    m_averageAngle.push_back(horizontalAngle);

    if (m_averageDistance.size() > 3)
    m_averageDistance.erase(m_averageDistance.begin());

    if (m_averageAngle.size() > 3)
        m_averageAngle.erase(m_averageAngle.begin());

    SmartDashboard::PutNumber("D_V_Active", m_validTarget);
    SmartDashboard::PutNumber("D_V_Distance", distance);
    // SmartDashboard::PutNumber("D_V_Angle", m_horizontalangle);
    SmartDashboard::PutNumber("D_V_Average Distance", GetDistance());
    SmartDashboard::PutNumber("D_V_Average Angle", GetAngle());
}

bool VisionSubsystem::GetValidTarget

(

)

Determine valid vision based on returned distance values

Returns

Whether or not the Vision Subsystem is giving accurate values

Definition at line 59 of file VisionSubsystem.cpp.

References m_validTarget.

{
    return m_validTarget;
}

double VisionSubsystem::GetDistance

(

)

Retrieves the distance calculation from the target via the limelight.

Definition at line 64 of file VisionSubsystem.cpp.

References Util::GetAverage(), and m_averageDistance.

{
    return Util::GetAverage(m_averageDistance);
}

double VisionSubsystem::GetAngle

(

)

Returns

The angle calculation from the target via the limelight

Definition at line 70 of file VisionSubsystem.cpp.

References Util::GetAverage(), and m_averageAngle.

{
    return Util::GetAverage(m_averageAngle);
}

void VisionSubsystem::SetLED

(

bool

on

)

Turns the limelight LED on or off

Parameters

on	Boolean where true = LED on

3 forces limelight led on

1 forces limelight led off

Definition at line 75 of file VisionSubsystem.cpp.

References m_led, and m_networktable.

{
    m_led = on;
    if (m_led)
    {
        m_networktable->PutNumber("ledMode", 3);
    }
    else
    {
        m_networktable->PutNumber("ledMode", 1);
    }
}

double VisionSubsystem::DegreesToRadians ( double  degrees )

protected

Converts degrees to radians

Parameters

degrees

Degrees to convert

Member Data Documentation

shared_ptr<NetworkTable> VisionSubsystem::m_dashboard

private

Definition at line 44 of file VisionSubsystem.h.

shared_ptr<NetworkTable> VisionSubsystem::m_networktable

private

Definition at line 45 of file VisionSubsystem.h.

bool VisionSubsystem::m_led

private

Definition at line 46 of file VisionSubsystem.h.

double VisionSubsystem::m_tx

private

Definition at line 48 of file VisionSubsystem.h.

double VisionSubsystem::m_ty

private

Definition at line 49 of file VisionSubsystem.h.

bool VisionSubsystem::m_validTarget

private

Definition at line 50 of file VisionSubsystem.h.

vector<double> VisionSubsystem::m_averageDistance

private

Definition at line 51 of file VisionSubsystem.h.

vector<double> VisionSubsystem::m_averageAngle

private

Definition at line 52 of file VisionSubsystem.h.

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The documentation for this class was generated from the following files:

• src/main/include/subsystems/VisionSubsystem.h
• src/main/cpp/subsystems/VisionSubsystem.cpp