Vision and Autonomous: Boilerplate FRCVision

.gitignore

@@ -6,6 +6,7 @@ __pycache__
 _build
 *.*~
 .python-version
+*.whl
 
 # dashboard build files
 dashboard/www/main.js*

dashboard/Makefile

@@ -34,6 +34,9 @@ run:
 comp:
 	cd www && python -m pynetworktables2js --robot 10.17.21.2 --port=5800
 
+comp:
+	cd www && python -m pynetworktables2js --robot 10.17.21.2
+
 clean:
 	git clean -fdX
 

docs/wiring/resources/iplist.csv

@@ -1,6 +1,6 @@
-Hostname,mDNS,IP
+Hostname,mDNS,IP
 roborio,I forget,10.17.21.2
 nuc,,10.17.21.11
-limelight,TBD,TBD
-aivision,TBD,TBD
+limelight,,10.17.21.13
+frcvision,,10.17.21.12
 driverstation,,DHCP

limelight/pipelines/ActivePipeline.vpr

@@ -0,0 +1,64 @@
+area_max:100
+area_min:0.0017850625000000004
+area_similarity:0
+aspect_max:20.000000
+aspect_min:0.000000
+black_level:6
+blue_balance:2243
+calibration_type:0
+contour_grouping:0
+contour_sort_final:2
+convexity_max:100
+convexity_min:10
+corner_approx:5.000000
+cross_a_a:1
+cross_a_x:0
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:Pipeline_Name
+desired_contour_region:0
+dilation_steps:0
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:0
+exposure:2
+force_convex:1
+hue_max:85
+hue_min:60
+image_flip:0
+image_source:0
+img_to_show:0
+intersection_filter:0
+invert_hue:0
+multigroup_max:7
+multigroup_min:1
+multigroup_rejector:0
+pipeline_led_enabled:1
+pipeline_led_power:100
+pipeline_res:0
+pipeline_type:0
+red_balance:500
+roi_x:0.000000
+roi_y:0.000000
+sat_max:255
+sat_min:70
+send_corners:0
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_bindtarget:1
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+solve3d_zoffset:0.000000
+val_max:255
+val_min:70
+x_outlier_miqr:1.5
+y_max:1.000000
+y_min:-1.000000
+y_outlier_miqr:1.5

rio/autonomous/vision.py

@@ -0,0 +1,20 @@
+import commands2
+import constants
+
+from networktables import NetworkTables
+
+from subsystems.drivetrain import Drivetrain
+from subsystems.yoke import Yoke
+
+
+class vision(commands2.SequentialCommandGroup):
+    """
+    A vision command
+    """
+
+    def __init__(self, drive: Drivetrain, yoke: Yoke):
+        super().__init__()
+        NetworkTables.getTable("limelight").getNumber("<variablename>")
+
+    def camera(self):
+        pass

rio/subsystems/drivetrain.py

@@ -2,7 +2,7 @@
 # 2022
 
 import math
-
+import logging
 
 from wpilib import RobotBase
 import wpilib