Package frc.robot.Subsystems.Vision

Class Vision

java.lang.Object

frc.robot.Subsystems.Vision.Vision

public class Vision
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Vision.CameraMode

Field Summary

Fields

Modifier and Type	Field	Description
static final Vision	instance

Method Summary

Modifier and Type	Method	Description
Vision.CameraMode	getCameraMode()
Optional<frc.robot.Subsystems.Vision.Vision.CameraResults>	readLimelightResults()
Optional<frc.robot.Subsystems.Vision.Vision.CameraResults>	readPhotonResults(org.photonvision.PhotonCamera camera, org.photonvision.PhotonPoseEstimator photon_pose_estimator, VisionPoseCache cache)
void	setCameraPipelines(Vision.CameraMode mode)	Switch the pipelines of the two OV cameras.
void	update()

Methods inherited from class java.lang.Object

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

Field Details

instance

public static final Vision instance

Method Details

readPhotonResults

public Optional<frc.robot.Subsystems.Vision.Vision.CameraResults> readPhotonResults(org.photonvision.PhotonCamera camera,
 org.photonvision.PhotonPoseEstimator photon_pose_estimator,
 VisionPoseCache cache)

readLimelightResults

public Optional<frc.robot.Subsystems.Vision.Vision.CameraResults> readLimelightResults()

setCameraPipelines

public void setCameraPipelines(Vision.CameraMode mode)

Switch the pipelines of the two OV cameras.

Parameters:

mode - The mode for the two cameras.

getCameraMode

public Vision.CameraMode getCameraMode()

update

public void update()