TASK - Limelight Library

[sammcdo]

I'm thinking something similar to 4414s code here for the Limelight class and then a subsystem with methods to help with vision and auto vision.

[sammcdo]

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Name: Limelight Wrapper About: A convenience class for using a limelight. Issue: #13

Description

This class provides a handy tool for using a limelight on a robot. It will provide options for both regular and 3d modes, getting common network table values, setting the LED states, and setting the camera mode and changing the pipeline.

Inputs

Network tables (Parameter: The name of each limelight's network table) (Parameter: Whether the limelight is in 3d mode.)

Outputs

Network Table values.

Constraints

Get x, y, skew, pipeline, 3d position Set LED mode, pipeline, camera mode Make it sendable, so it is easily displayed on shuffleboard.

Design (Algorithm)

Constructor:

• Parameters: Name of the network table to access, 3d mode on/off

Class Data:

• Horizontal FOV for convenience.
• Vertical FOV for convenience.
• Name of the network table to access.
• 3d mode enabled.
• Led States. (enum)
• Camera States. (enum)

Private Methods:

• get
  • Parameters: Name of network table entry to access.
  • Run a network table double request.
  • Return: The double value from Network Tables.
• getArray
  • Parameters: Name of network table entry to access.
  • Run a network table double array request.
  • Return: The double array from Network Tables.
• set
  • Parameters: Name of network table entry to access, the value to set.
  • Run a network table set double request.
• getTableName
  • Return: The name of the network table this limelight is using.

Public Methods:

• hasTarget
  • Check the network table entry for 'tv'.
  • Return the value of the entry as a boolean.
• getXOffset
  • Return: The value of network table 'tx'.
• getYOffset
  • Return: The value of network table 'ty'.
• getSkew
  • Return: The value of network table 'ts'.
• getPipeline
  • Return: The value of network table 'getpipe'.
• setPipeline
  • Parameter: The pipeline number to set.
  • Set the pipeline to the nuumber given using entry 'pipeline'.
• setLedMode
  • Parameter: The desired LED state.
  • Based on the given state, set the LED mode using entry 'ledMode'.
• setCameraMode
  • Parameter: The desired camera mode.
  • Based on the given state set the camera mode using entry 'camMode'
• get3dPosition
  • If in 3d mode, return a Limelight3dPos containing the proper values from entry 'camtran'.
  • If not in 3d mode, return a Limelight3dPos containing all 0s.

Inner Classes:

• Limelight3dPos
  • Store the results of a limelight 3d position estimation.
  • x, y, z, pitch, yaw, and roll double variables.
  • Array containing all 6 values.

[sammcdo]

LimelightS

Dependencies

• WPILIB
• CTRE Phoenix API

Description

• Subsystem for controlling the limelight and using it to control the robot.

Inputs

• Network Tables

Outputs

• Horizontal PID
• Vertical PID
• Max
  • Limelight Trajectory Following

Actions

• PID Horizontal
• PID Vertical
• Max
  • Limelight Trajectory Following

Constraints

• Outputs must be compatable with drivebase movement methods.
• Max
  • Trajectory following must be compatable with drivebase.

Design

• Driver starts vision align
• PID outputs to drivebase.

Variables

• The Limelight to control.
• A Moving Average for the horizontal input from the limelight.
  • Horizontal Moving Average max length
• A Moving Average for the vertical input from the limelight.
  • Vertical Moving Average max length
• A horizontal PID controller
• A vertical PID controller
• A variable to increment when checking if it is in range.

Methods

• Get horizontal value
  • Add current reading from Limelight to Hor Moving Avg and return the averaged result.
• Get vertical value
  • Add current reading from Limelight to Vert Moving Avg and return the averaged result.
• Get horizontal PID output
• Get vertical PID output
• Check if at set point

[sammcdo]

This is what I did to drown my misery the first few weeks after quarantine. Check out branch sammcdo/limelightUpdate

[shueja]

Outdated.