Package frc.robot.subsystems.vision

Class VisionReal

java.lang.Object

frc.robot.subsystems.vision.VisionReal

All Implemented Interfaces:

VisionIO

Direct Known Subclasses:

VisionSimPhoton

public class VisionReal
extends Object
implements VisionIO

PhotonVision-attached implementation

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.vision.VisionIO

VisionIO.CameraInputs, VisionIO.Empty

Field Summary

Fields

Modifier and Type	Field	Description
protected final org.photonvision.PhotonCamera[]	cameras

Constructor Summary

Constructors

Constructor	Description
VisionReal(Constants.Vision.CameraConstants[] constants)	PhotonVision-attached implementation

Method Summary

Modifier and Type	Method	Description
protected void	createSettingsUploadThread(String hostname)	Create a thread to upload PV settings/April Tag field
void	updateInputs(VisionIO.CameraInputs[] inputs)
boolean	uploadAprilTagMap(String hostname)	Upload current April Tags Field to PV Co-Processors
boolean	uploadSettings(String hostname)	Upload saved settings to PV Co-Processors
boolean	waitForPV(String hostname)	Check that PV has started on Co-Processor

Methods inherited from class java.lang.Object

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

Field Details

cameras

protected final org.photonvision.PhotonCamera[] cameras

Constructor Details

VisionReal

public VisionReal(Constants.Vision.CameraConstants[] constants)

PhotonVision-attached implementation

Method Details

updateInputs

public void updateInputs(VisionIO.CameraInputs[] inputs)

Specified by:

updateInputs in interface VisionIO

uploadAprilTagMap

public boolean uploadAprilTagMap(String hostname)
                          throws IOException

Upload current April Tags Field to PV Co-Processors

Parameters:

hostname - Hostname of Co-Processor

Returns:

True when completed

Throws:

IOException - IOException for HTTP request

uploadSettings

public boolean uploadSettings(String hostname)
                       throws IOException

Upload saved settings to PV Co-Processors

Parameters:

hostname - Hostname of Co-Processor

Returns:

True when completed

Throws:

IOException - IOException for HTTP request

waitForPV

public boolean waitForPV(String hostname)
                  throws IOException

Check that PV has started on Co-Processor

Parameters:

hostname - Hostname of Co-Processor

Returns:

True when completed

Throws:

IOException - IOException for HTTP request

createSettingsUploadThread

protected void createSettingsUploadThread(String hostname)

Create a thread to upload PV settings/April Tag field

Parameters:

hostname - hostname of the PV Co-Processor