frc.team670.robot.dataCollection

Class MustangCoprocessor

java.lang.Object

frc.team670.robot.dataCollection.MustangCoprocessor

public class MustangCoprocessor
extends java.lang.Object

Stores values off of NetworkTables for easy retrieval and gives them Listeners to update the stored values as they are changed.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	MustangCoprocessor.VisionValue_PIDSource Implements a VisionValue (vertical/horizontal angle) as a PIDSource
class	MustangCoprocessor.VisionValues Represents a set of vision data received from the coprocessor containing an array of doubles in the form [hangle, vangle, timestamp]

Field Summary

Fields

Modifier and Type	Field and Description
static double	HIGH_TARGET_HEIGHT
static double	LOW_TARGET_HEIGHT

Constructor Summary

Constructors

Constructor and Description
MustangCoprocessor()

Method Summary

Modifier and Type	Method and Description
double	getAngleToWallTarget()
double	getDistanceToWallTarget()
MustangCoprocessor.VisionValue_PIDSource	getHAnglePIDSource() Horizontal Angle to the vision target in degrees, as a PIDSource.
double	getTimestamp()
MustangCoprocessor.VisionValue_PIDSource	getVAnglePIDSource() Vertical Angle to the vision target in degrees, as a PIDSource.
double[]	getVisionValues()
boolean	isBackCamera()
void	setCamera(boolean back) Sets which camera to use for vision (front/back)
void	setTargetHeight(boolean lowTarget) Sets the target for vision (must be set properly to get correct distance)
void	turnOffBackLedRing()
void	turnOnBackLedRing()
void	useVision(boolean enabled) Sets whether to use vision

Methods inherited from class java.lang.Object

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

Field Detail

HIGH_TARGET_HEIGHT

public static final double HIGH_TARGET_HEIGHT

See Also:

Constant Field Values

LOW_TARGET_HEIGHT

public static final double LOW_TARGET_HEIGHT

See Also:

Constant Field Values

Constructor Detail

MustangCoprocessor

public MustangCoprocessor()

Method Detail

getHAnglePIDSource

public MustangCoprocessor.VisionValue_PIDSource getHAnglePIDSource()

Horizontal Angle to the vision target in degrees, as a PIDSource. Provides the VISION_ERROR_CODE if no value found.

getVAnglePIDSource

public MustangCoprocessor.VisionValue_PIDSource getVAnglePIDSource()

Vertical Angle to the vision target in degrees, as a PIDSource. Provides the VISION_ERROR_CODE if no value found.

getDistanceToWallTarget

public double getDistanceToWallTarget()

getTimestamp

public double getTimestamp()

getAngleToWallTarget

public double getAngleToWallTarget()

getVisionValues

public double[] getVisionValues()

isBackCamera

public boolean isBackCamera()

Returns:

true if using back camera, false if using front

setCamera

public void setCamera(boolean back)

Sets which camera to use for vision (front/back)

Parameters:

back - true for back camera, false for front

useVision

public void useVision(boolean enabled)

Sets whether to use vision

Parameters:

enabled - true for vision, false for no vision

setTargetHeight

public void setTargetHeight(boolean lowTarget)

Sets the target for vision (must be set properly to get correct distance)

Parameters:

lowTarget - true for low (everything but rocket ball), false for high (rocket ball)

turnOnBackLedRing

public void turnOnBackLedRing()

turnOffBackLedRing

public void turnOffBackLedRing()