features

README.md

@@ -6,7 +6,7 @@ Our robot code is centered around [Robot.java](src/main/java/org/sciborgs1155/ro
 
 This project currently contains drive, vision, and autos. You are expected to add/modify code supporting existing files and new subsystems when using this template. Some of these files include but are not limited to:
 - **[Autos.java](src/main/java/org/sciborgs1155/robot/commands/Autos.java)** Add code for new subsystems in `configureAutos`, such as commands for `NamedCommands`
-- **[VisionConstants.java](src/main/java/org/sciborgs1155/robot/vision/VisionConstants.java)** Add new `CameraConfig` objects representing cameras on the robot in the field `CAMERAS`. Also modify any camera configurations or constants if needed.
+- **[VisionConstants.java](src/main/java/org/sciborgs1155/robot/vision/VisionConstants.java)** Add new `CameraConfig` fields representing cameras on the robot, and change the `create` method in [Vision](src/main/java/org/sciborgs1155/robot/vision/Vision.java). Also modify any camera configurations or constants if needed.
 - **[Constants.java](src/main/java/org/sciborgs1155/robot/Constants.java)** Modify the class `Field` to be updated for each year's game, and any other constants if needed.
 - **[Ports.java](src/main/java/org/sciborgs1155/robot/Ports.java)** Modify existing OI and drive ports, as well as adding new ports.
 - **[Robot.java](src/main/java/org/sciborgs1155/robot/Robot.java)** A lot needs to be added/modified in this file, self-explanatory.

src/main/java/org/sciborgs1155/lib/FaultLogger.java

@@ -200,7 +200,6 @@ public static void register(CANSparkBase spark) {
         "motor above 100°C",
         FaultType.WARNING);
     // TODO actually fix PDH (this is cursed)
-    FakePDH.register(spark);
   }
 
   /**

src/main/java/org/sciborgs1155/robot/Robot.java

@@ -23,7 +23,6 @@
 import monologue.Monologue;
 import org.littletonrobotics.urcl.URCL;
 import org.sciborgs1155.lib.CommandRobot;
-import org.sciborgs1155.lib.FakePDH;
 import org.sciborgs1155.lib.FaultLogger;
 import org.sciborgs1155.lib.InputStream;
 import org.sciborgs1155.lib.SparkUtils;
@@ -71,7 +70,6 @@ private void configureGameBehavior() {
     SmartDashboard.putData(CommandScheduler.getInstance());
     // Log PDH
     // SmartDashboard.putData("PDH", new PowerDistribution());
-    addPeriodic(() -> log("current", FakePDH.update()), PERIOD.in(Seconds));
 
     // Configure pose estimation updates every tick
     addPeriodic(() -> drive.updateEstimates(vision.getEstimatedGlobalPoses()), PERIOD.in(Seconds));

src/main/java/org/sciborgs1155/robot/vision/Vision.java

@@ -1,5 +1,6 @@
 package org.sciborgs1155.robot.vision;
 
+import static org.sciborgs1155.robot.Constants.*;
 import static org.sciborgs1155.robot.vision.VisionConstants.*;
 
 import edu.wpi.first.math.Matrix;
@@ -25,7 +26,6 @@
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.sciborgs1155.lib.FaultLogger;
-import org.sciborgs1155.robot.Constants.Field;
 import org.sciborgs1155.robot.Robot;
 
 public class Vision implements Logged {
@@ -41,7 +41,7 @@ public static record PoseEstimate(EstimatedRobotPose estimatedPose, Matrix<N3, N
 
   /** A factory to create new vision classes with our two configured cameras */
   public static Vision create() {
-    return new Vision(CAMERAS);
+    return new Vision(BACK_LEFT_CAMERA, BACK_RIGHT_CAMERA);
   }
 
   public Vision(CameraConfig... configs) {

src/main/java/org/sciborgs1155/robot/vision/VisionConstants.java

@@ -20,27 +20,30 @@ public class VisionConstants {
 
   /* The front of the robot is defined at the intake */
 
-  public static final CameraConfig[] CAMERAS = {
-    new CameraConfig(
-        "back left",
-        new Transform3d(
-            new Translation3d(Inches.of(-10.74), Inches.of(11.617), Inches.of(17.25)),
-            new Rotation3d(0, -Math.PI / 6, 5 * Math.PI / 6))),
-    new CameraConfig(
-        "back right",
-        new Transform3d(
-            new Translation3d(Inches.of(-10.74), Inches.of(-11.617), Inches.of(17.25)),
-            new Rotation3d(0, -Math.PI / 6, -5 * Math.PI / 6))),
-    new CameraConfig(
-        "front left",
-        new Transform3d(
-            new Translation3d(-0.089, 0.3, 0.46),
-            new Rotation3d(Math.PI, -Math.PI / 6, Math.PI / 6))),
-    new CameraConfig(
-        "front right",
-        new Transform3d(
-            new Translation3d(-0.273, -0.3, 0.485), new Rotation3d(0, -Math.PI / 6, -Math.PI / 6)))
-  };
+  public static final CameraConfig BACK_LEFT_CAMERA =
+      new CameraConfig(
+          "back left",
+          new Transform3d(
+              new Translation3d(Inches.of(-10.74), Inches.of(11.617), Inches.of(17.25)),
+              new Rotation3d(0, -Math.PI / 6, 5 * Math.PI / 6)));
+  public static final CameraConfig BACK_RIGHT_CAMERA =
+      new CameraConfig(
+          "back right",
+          new Transform3d(
+              new Translation3d(Inches.of(-10.74), Inches.of(-11.617), Inches.of(17.25)),
+              new Rotation3d(0, -Math.PI / 6, -5 * Math.PI / 6)));
+  public static final CameraConfig FRONT_LEFT_CAMERA =
+      new CameraConfig(
+          "front left",
+          new Transform3d(
+              new Translation3d(-0.089, 0.3, 0.46),
+              new Rotation3d(Math.PI, -Math.PI / 6, Math.PI / 6)));
+  public static final CameraConfig FRONT_RIGHT_CAMERA =
+      new CameraConfig(
+          "front right",
+          new Transform3d(
+              new Translation3d(-0.273, -0.3, 0.485),
+              new Rotation3d(0, -Math.PI / 6, -Math.PI / 6)));
 
   // OV9281 constants for our configuration
   public static final int WIDTH = 1280;