Package frc.robot.subsystems.vision

Class VisionSim

java.lang.Object

frc.robot.subsystems.vision.VisionReal

frc.robot.subsystems.vision.VisionSim

All Implemented Interfaces:

VisionIO

@NullMarked
public class VisionSim
extends VisionReal

Simulation of vision using built-in PhotonVision simulator.

Nested Class Summary

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

VisionIO.CameraInputs

Field Summary

Fields

Modifier and Type	Field	Description
final Map<String,org.photonvision.simulation.PhotonCameraSim>	staticCameras
final Map<String,org.photonvision.simulation.PhotonCameraSim>	turretCameras
final org.photonvision.simulation.VisionSystemSim	turretVisionSim
final org.photonvision.simulation.VisionSystemSim	visionSim

Fields inherited from class frc.robot.subsystems.vision.VisionReal

cameras

Constructor Summary

Constructors

Constructor	Description
VisionSim()	Simulation of vision using built-in PhotonVision simulator.

Method Summary

Modifier and Type	Method	Description
void	updateState(Pose3d robotPose, Angle turretAngle)	Update camera poses using robot state.

Methods inherited from class frc.robot.subsystems.vision.VisionReal

createSettingsUploadThread, updateInputs, uploadSettings, waitForPV

Methods inherited from class java.lang.Object

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

Field Details

visionSim

public final org.photonvision.simulation.VisionSystemSim visionSim

turretVisionSim

public final org.photonvision.simulation.VisionSystemSim turretVisionSim

staticCameras

public final Map<String,org.photonvision.simulation.PhotonCameraSim> staticCameras

turretCameras

public final Map<String,org.photonvision.simulation.PhotonCameraSim> turretCameras

Constructor Details

VisionSim

public VisionSim()

Simulation of vision using built-in PhotonVision simulator.

Method Details

updateState

public void updateState(Pose3d robotPose,
 Angle turretAngle)

Update camera poses using robot state.