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tuning and vision changes #57

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Merged
sophiep29 merged 1 commit into from
Sep 27, 2025
Merged

tuning and vision changes #57

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19 changes: 13 additions & 6 deletions src/main/java/frc/robot/config/VisionConfig.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,16 +8,23 @@
import org.photonvision.PhotonPoseEstimator;

public class VisionConfig {
public static final String CAMERA_NAME = "apriltag";
public static final String SECOND_CAMERA_NAME = "apriltag2";
public static final String CAMERA_NAME = "apriltag"; // left
public static final String SECOND_CAMERA_NAME = "apriltag2"; // right

public static final AprilTagFieldLayout LAYOUT =
AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeAndyMark);
public static final PhotonPoseEstimator.PoseStrategy STRATEGY =
PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR;
public static final Transform3d CAMERA_POSITION =
new Transform3d(0.0, Units.inchesToMeters(-9.5), 0.0, new Rotation3d(0.0, 0.0, 0.0));
public static final Transform3d DRIVER_CAMERA_POSITION =
public static final Transform3d LEFT_CAMERA_POSITION =
new Transform3d(
Units.inchesToMeters(-4), Units.inchesToMeters(-1), 0.0, new Rotation3d(0.0, 0.0, 0.0));
Units.inchesToMeters(12.25),
Units.inchesToMeters(10.75),
0.0,
new Rotation3d(0.0, 0.0, 0.0));
public static final Transform3d RIGHT_CAMERA_POSITION =
new Transform3d(
Units.inchesToMeters(12.25),
Units.inchesToMeters(-8.75),
0.0,
new Rotation3d(0.0, 0.0, 0.0));
}
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -74,12 +74,12 @@ public class Drivetrain extends SubsystemBase {
// Creates PhotonPoseEstimator that estimates the robot position from one camera
private PhotonPoseEstimator vision =
new PhotonPoseEstimator(
VisionConfig.LAYOUT, VisionConfig.STRATEGY, VisionConfig.CAMERA_POSITION);
VisionConfig.LAYOUT, VisionConfig.STRATEGY, VisionConfig.LEFT_CAMERA_POSITION);

// Creates PhotonPoseEstimator that estimates the robot position from another camera
private PhotonPoseEstimator driverVision =
new PhotonPoseEstimator(
VisionConfig.LAYOUT, VisionConfig.STRATEGY, VisionConfig.DRIVER_CAMERA_POSITION);
VisionConfig.LAYOUT, VisionConfig.STRATEGY, VisionConfig.RIGHT_CAMERA_POSITION);

// creates Ultrasonic rangeFinder that measures distance (currently not in use)
Ultrasonic rangeFinder = new Ultrasonic(1, 2);
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