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AprilTagVisionSubsystem #3

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AprilTagVisionSubsystem #3

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65bfe90
update wpilib to 2025.2.1
aschokking Jan 17, 2025
54db91b
Update SCL
aschokking Jan 17, 2025
c3b5e79
Add get simulated pose impl to posesubsystem
aschokking Jan 17, 2025
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2 changes: 1 addition & 1 deletion SeriouslyCommonLib
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Submodule SeriouslyCommonLib updated 20 files
+1 −1 build.gradle
+24 −4 src/main/java/xbot/common/controls/actuators/XCANMotorController.java
+7 −0 src/main/java/xbot/common/controls/actuators/mock_adapters/MockCANMotorController.java
+6 −0 src/main/java/xbot/common/controls/actuators/wpi_adapters/CANSparkMaxWpiAdapter.java
+6 −0 src/main/java/xbot/common/controls/actuators/wpi_adapters/CANTalonFxWpiAdapter.java
+11 −0 src/main/java/xbot/common/controls/io_inputs/XCANMotorControllerInputs.java
+2 −2 src/main/java/xbot/common/controls/sensors/wpi_adapters/CANCoderAdapter.java
+2 −1 src/main/java/xbot/common/injection/components/PurePursuitTestComponent.java
+2 −1 src/main/java/xbot/common/injection/components/SimulationComponent.java
+11 −0 src/main/java/xbot/common/injection/electrical_contract/DeviceInfo.java
+13 −0 src/main/java/xbot/common/injection/electrical_contract/XCameraElectricalContract.java
+17 −0 src/main/java/xbot/common/injection/modules/DefaultVisionModule.java
+11 −1 src/main/java/xbot/common/injection/modules/SimulationModule.java
+5 −1 src/main/java/xbot/common/subsystems/pose/BasePoseSubsystem.java
+6 −0 src/main/java/xbot/common/subsystems/pose/MockBasePoseSubsystem.java
+7 −0 src/main/java/xbot/common/subsystems/pose/SimulatedPositionSupplier.java
+49 −0 src/main/java/xbot/common/subsystems/vision/AprilTagVisionIO.java
+147 −0 src/main/java/xbot/common/subsystems/vision/AprilTagVisionIOPhotonVision.java
+75 −0 src/main/java/xbot/common/subsystems/vision/AprilTagVisionIOPhotonVisionSimulated.java
+240 −0 src/main/java/xbot/common/subsystems/vision/AprilTagVisionSubsystem.java
2 changes: 1 addition & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO

plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2025.1.1"
id "edu.wpi.first.GradleRIO" version "2025.2.1"
id 'checkstyle'
id 'jacoco'
id 'org.hidetake.ssh' version "2.9.0"
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6 changes: 6 additions & 0 deletions src/main/java/competition/subsystems/pose/PoseSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -102,4 +102,10 @@ public void setCurrentPoseInMeters(Pose2d newPoseInMeters) {
WrappedRotation2d.fromRotation2d(newPoseInMeters.getRotation())
);
}


@Override
public Pose2d getGroundTruthPose() {
return this.getCurrentPose2d();
}
}