Package frc.robot.subsystems.vision

Class Vision

java.lang.Object

frc.robot.subsystems.vision.Vision

public class Vision
extends Object

Class that handles vision logic.

Constructor Summary

Constructors

Constructor	Description
Vision(SwerveDrive swerveDrive)	Creates a new Vision.

Method Summary

Modifier and Type	Method	Description
void	setTagFilterAlliance(DriverStation.Alliance alliance)	Sets the AprilTag ID filter to the appropriate set for the given alliance.
void	updatePoseEstimation()	Update the pose estimation inside of swerveDrive with data from Limelight.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Vision

public Vision(SwerveDrive swerveDrive)

Creates a new Vision.

Parameters:

swerveDrive - SwerveDrive to update.

Method Details

setTagFilterAlliance

public void setTagFilterAlliance(DriverStation.Alliance alliance)

Sets the AprilTag ID filter to the appropriate set for the given alliance.

Parameters:

alliance - The alliance to set it for.

updatePoseEstimation

public void updatePoseEstimation()

Update the pose estimation inside of swerveDrive with data from Limelight.