Malefix/xyz.malefic.frc.vision

Package-level declarations

Types

Camera

interface Camera

Common interface for all vision cameras (PhotonVision, Limelight, etc.).

LimeModule

class LimeModule(val name: String) : Camera

The LimeModule class represents a Limelight camera with NetworkTables integration.

LimeModuleBuilder

class LimeModuleBuilder(name: String)

Builder for creating a LimeModule.

PhotonModule

class PhotonModule(cameraName: String, val cameraPos: Transform3d, fieldLayout: AprilTagFieldLayout) : Camera

The PhotonModule class represents a single PhotonVision camera setup with its associated PhotonPoseEstimator and position information.

PhotonModuleBuilder

class PhotonModuleBuilder(name: String)

Builder for creating a PhotonModule.

VisionMeasurement

data class VisionMeasurement(val pose: Pose2d, val timestamp: Time, val targetsUsed: Int, val stdDevs: Matrix<N3, N1>, val averageTagDistance: Distance = Units.Meters.of(0.0), val ambiguity: Double = 0.0)

Represents a vision measurement from a camera.

VisionSystem

class VisionSystem : SubsystemBase

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

VisionSystemBuilder

class VisionSystemBuilder

Builder for creating a VisionSystem with DSL syntax.

Functions

alignToTarget

fun SwerveDrive.alignToTarget(camera: Camera, translationSpeed: () -> Double = { 0.0 }, strafeSpeed: () -> Double = { 0.0 }): AlignToTarget

Creates an AlignToTarget command for this swerve drive.

integrateVision

fun SwerveDrive.integrateVision(visionSystem: VisionSystem)

Extension to easily integrate a vision system with a swerve drive.

resetPoseFromVision

fun SwerveDrive.resetPoseFromVision(visionSystem: VisionSystem): ResetPoseFromVision

Creates a ResetPoseFromVision command for this swerve drive.

trackTarget

fun SwerveDrive.trackTarget(camera: Camera, translationSpeed: () -> Double, strafeSpeed: () -> Double): TrackTarget

Creates a TrackTarget command for this swerve drive.

visionSystem

fun visionSystem(block: VisionSystemBuilder.() -> Unit): VisionSystem

DSL for creating a VisionSystem with multiple cameras.