Package frc.robot

Class RaspberryPiPhoton

java.lang.Object

frc.robot.RaspberryPi

frc.robot.RaspberryPiPhoton

public class RaspberryPiPhoton
extends RaspberryPi

IO implementation for real robot using PhotonVision.

Constructor Summary

Constructors

Constructor	Description
RaspberryPiPhoton()	Creates a new RaspberryPiPhoton connecting to real cameras.

Method Summary

Modifier and Type	Method	Description
ArrayList<AprilTag>	getAprilTags()	Returns a list of all april tags from reef and station camera.
ArrayList<AprilTag>	getReefAprilTags()	Returns a list of all april tags from reef CV camera.
ArrayList<AprilTag>	getStationAprilTags()	Returns all april tags visible from Station CV Camera.
void	printRawData()	Prints all raw apriltag data to console.
void	update(edu.wpi.first.math.geometry.Pose2d robotPoseMeters)	Updates raspberry pi's state based on current robot pose.

Methods inherited from class frc.robot.RaspberryPi

canSeeTags, getAprilTagsSingleCam, getAprilTagWithID, getClosestTag

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

RaspberryPiPhoton

public RaspberryPiPhoton()

Creates a new RaspberryPiPhoton connecting to real cameras.

Method Details

printRawData

public void printRawData()

Prints all raw apriltag data to console.

Overrides:

printRawData in class RaspberryPi

getAprilTags

public ArrayList<AprilTag> getAprilTags()

Returns a list of all april tags from reef and station camera.

Overrides:

getAprilTags in class RaspberryPi

Returns:

all april tags

getReefAprilTags

public ArrayList<AprilTag> getReefAprilTags()

Returns a list of all april tags from reef CV camera.

Overrides:

getReefAprilTags in class RaspberryPi

Returns:

all visible reef april tags.

getStationAprilTags

public ArrayList<AprilTag> getStationAprilTags()

Returns all april tags visible from Station CV Camera.

Overrides:

getStationAprilTags in class RaspberryPi

Returns:

list of all april tags

update

public void update(edu.wpi.first.math.geometry.Pose2d robotPoseMeters)

Updates raspberry pi's state based on current robot pose. Not used for teleop functionality.

Overrides:

update in class RaspberryPi

Parameters:

robotPoseMeters - current pose