Vision/drive to point #45
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…25 into vision/drive-to-point
build.gradle
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| @@ -99,6 +108,16 @@ dependencies { | |||
| annotationProcessor 'com.google.dagger:dagger-compiler:2.44.2' | |||
| testAnnotationProcessor 'com.google.dagger:dagger-compiler:2.44.2' | |||
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| // implementation "org.zeromq:jeromq:0.6.0" | |||
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⭐ ⭐ ⭐ You've left a lot of commented out code behind. Can you please clean this up?
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I've addressed the feedback on issues. Let me know if there's anything else to update!
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| //allows for driving not in a straight line | ||
| public void retrieveWaypointsFromVision() { | ||
| if (this.xclient == null) { |
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⭐ why not initialize this in the constructor? That way it can happen as the robot boots and the robot is disabled (so the time is cheap)
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I have updated this to create a shared instance in the vision subsystem. Let me know if there any other changes needed.
| //allows for driving not in a straight line | ||
| public void retrieveWaypointsFromVision() { | ||
| if (this.xclient == null) { | ||
| this.xclient = new XTablesClient("192.168.0.17",9999,1736,1737); |
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⭐ is this address stable? Should it be a StringProperty maybe so it's easy to change on each robot?
| @Override | ||
| public void initialize() { | ||
| // noteAcquisitionMode = NoteAcquisitionMode.BlindApproach; | ||
| hasDoneVisionCheckYet = false; |
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⭐ ⭐ it looks like this isn't being used for anything?
src/main/java/competition/Robot.java
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| @@ -10,6 +10,8 @@ | |||
| import competition.simulation.BaseSimulator; | |||
| import competition.subsystems.drive.DriveSubsystem; | |||
| import competition.subsystems.pose.PoseSubsystem; | |||
| //import edu.wpi.first.wpilibj.Preferences; | |||
| //import edu.wpi.first.wpilibj.simulation.DriverStationSim; | |||
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⭐ please remove commented out code
| public Translation2d[] waypoints = null; | ||
| double maximumSpeedOverride = 0; | ||
| PoseSubsystem pose; | ||
| // VisionSubsystem vision; |
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⭐ please remove commented out code throughout this file
Why are we doing this?
added vision drive to point capabilities and new april tag camera locations for rear april tag cameras
Asana task URL:
Whats changing?
Questions/notes for reviewers
How this was tested
PR feedback legend