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FRC-1250 / Team-1250-Crescendo2024

MIT License
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Limelight pose estimations #70

Open Rodney-Lewis opened 3 months ago

Rodney-Lewis commented 3 months ago

Description

Using AprtilTags, we can use vision to help orient us on the field and help correct odmetry over time (see #69) as error builds up. Configure the limelight to be able to provide pose estimations and pass these to pose estimator that already exists.

For example: This will add a vision measurement to the existing pose estimator that is built into the CTR swerve code this.m_odometry.addVisionMeasurement(pose, poseTimestamp);

Rodney-Lewis commented 2 months ago

Project example - https://github.com/LimelightVision/limelight-examples/blob/main/java-wpilib/swerve-megatag-odometry/src/main/java/frc/robot/Drivetrain.java

Rodney-Lewis commented 2 months ago

Added to project but is disabled