Malefix/xyz.malefic.frc.vision/VisionSystem

VisionSystem

class VisionSystem : SubsystemBase

The VisionSystem subsystem manages multiple vision cameras for robot pose estimation and target tracking.

Supports multi-camera fusion, automatic pose updates, and provides methods for accessing vision data from all connected cameras. Works with any camera implementing the Camera interface.

Usage Example:

val visionSystem = VisionSystem()

visionSystem.configure {
    enablePoseUpdates = true
    maxPoseAmbiguity = 0.2
}

// Add cameras
val frontCamera = PhotonModule(...)
val limelight = LimeModule("limelight")
visionSystem.addCamera(frontCamera)
visionSystem.addCamera(limelight)

// Set the pose estimator to update (typically your SwerveDrive)
visionSystem.setPoseEstimator { pose, timestamp, stdDevs ->
    swerveDrive.addVisionMeasurement(pose, timestamp, stdDevs)
}

Constructors

constructor()

Types

data class Config(var enablePoseUpdates: Boolean = true, var enableLogging: Boolean = true, var maxPoseAmbiguity: Double = 0.2, var minTargetsForPose: Int = 1, var rejectOutlierPoses: Boolean = true, var maxPoseDistance: Distance = Units.Meters.of(2.0))

Configuration for the vision system.

Properties

open val currentCommand: Command?

open var defaultCommand: Command?

open var name: String?

open var subsystem: String?

Functions

fun addCamera(camera: Camera)

Adds a camera to the vision system.

open fun addChild(name: String?, child: Sendable?)

fun addLimeModule(module: LimeModule)

Adds a Limelight camera module to the vision system.

addPhotonModule

fun addPhotonModule(module: PhotonModule)

Adds a PhotonVision camera module to the vision system.

fun configure(block: VisionSystem.Config.() -> Unit)

Configures the vision system using a DSL-style configuration block.

open fun defer(supplier: Supplier<Command?>?): Command?

getBestVisionMeasurement

fun getBestVisionMeasurement(): VisionMeasurement?

Gets the best available vision measurement from all cameras.

fun getCamera(name: String): Camera?

Gets a camera by name.

fun getCameras(): List<Camera>

Gets all cameras.

fun getLimeModule(name: String): LimeModule?

Gets a Limelight camera module by name.

fun getLimeModules(): List<LimeModule>

Gets all Limelight camera modules.

getPhotonModule

fun getPhotonModule(name: String): PhotonModule?

Gets a PhotonVision camera module by name.

getPhotonModules

fun getPhotonModules(): List<PhotonModule>

Gets all PhotonVision camera modules.

getVisibleTargetCount

fun getVisibleTargetCount(): Int

Gets the number of visible targets across all cameras.

fun hasTarget(): Boolean

Checks if any camera currently sees a target.

open fun idle(): Command?

open fun initSendable(builder: SendableBuilder?)

open override fun periodic()

open fun register()

removeDefaultCommand

open fun removeDefaultCommand()

open fun run(action: Runnable?): Command?

open fun runEnd(run: Runnable?, end: Runnable?): Command?

open fun runOnce(action: Runnable?): Command?

setAllLimelightLEDs

fun setAllLimelightLEDs(mode: LimeModule.LEDMode)

Sets all Limelight LEDs to a specific mode.

setAllLimelightPipelines

fun setAllLimelightPipelines(pipeline: Int)

Sets all Limelight pipelines.

setCurrentPoseSupplier

fun setCurrentPoseSupplier(supplier: () -> Pose2d)

Sets a supplier for getting the current robot pose.

setEnablePoseUpdates

fun setEnablePoseUpdates(enabled: Boolean)

Enables or disables automatic pose updates.

setPoseEstimator

fun setPoseEstimator(callback: (Pose2d, Time, Matrix<N3, N1>) -> Unit)

Sets the callback function for updating the robot's pose estimator.

simulationPeriodic

open fun simulationPeriodic()

open fun startEnd(start: Runnable?, end: Runnable?): Command?

open fun startRun(start: Runnable?, run: Runnable?): Command?