SCDS/FtcTemplate
7
0
Fork 0
mirror of https://github.com/trc492/FtcTemplate.git synced 2025-07-04 14:31:24 -07:00
Code Issues Packages Projects Releases Wiki Activity

Updated ftclib.

Browse Source 
Fixed Limelight 3a support.
This commit is contained in:
Titan Robotics Club
2024-09-23 23:15:41 -07:00
parent 05b31a5514
commit 0de0e28927
5 changed files with 86 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

65
TeamCode/src/main/java/teamcode/vision/Vision.java
View File

@ -611,6 +611,71 @@ public class Vision
return colorBlobInfo;
} //getDetectedColorBlob
/**
* This method enables/disables Limelight vision for the specified pipeline.
*
* @param pipelineIndex specifies the limelight pipeline index to be selected, ignore if disabled.
* @param enabled specifies true to enable, false to disable.
*/
public void setLimelightVisionEnabled(int pipelineIndex, boolean enabled)
{
if (limelightVision != null)
{
if (enabled)
{
limelightVision.setPipeline(pipelineIndex);
}
limelightVision.setVisionEnabled(enabled);
}
} //setLimelightVisionEnabled
/**
* This method checks if Limelight vision is enabled.
*
* @return true if enabled, false if disabled.
*/
public boolean isLimelightVisionEnabled()
{
return limelightVision != null && limelightVision.isVisionEnabled();
} //isLimelightVisionEnabled
/**
* This method calls Limelight vision to detect the object.
*
* @param resultType specifies the result type to look for.
* @param label specifies the detected object label, can be null to match any label.
* @param lineNum specifies the dashboard line number to display the detected object info, -1 to disable printing.
* @return detected Limelight object info.
*/
public TrcVisionTargetInfo<FtcLimelightVision.DetectedObject> getLimelightDetectedObject(
FtcLimelightVision.ResultType resultType, String label, int lineNum)
{
TrcVisionTargetInfo<FtcLimelightVision.DetectedObject> limelightInfo = null;
String objectName = null;
if (limelightVision != null)
{
limelightInfo = limelightVision.getBestDetectedTargetInfo(resultType, label, null);
if (limelightInfo != null)
{
objectName = limelightInfo.detectedObj.label;
}
}
if (objectName != null && robot.blinkin != null)
{
robot.blinkin.setDetectedPattern(objectName);
}
if (lineNum != -1)
{
robot.dashboard.displayPrintf(
lineNum, "%s: %s", objectName, limelightInfo != null? limelightInfo: "Not found.");
}
return limelightInfo;
} //getLimelightDetectedObject
/**
* This method returns the target Z offset from ground.
*