frc.robot.subsystems.vision.CameraSubsystem Class Reference

Inheritance diagram for frc.robot.subsystems.vision.CameraSubsystem:

Public Member Functions
	CameraSubsystem (String camName, Transform3d camPose)
Optional< EstimatedRobotPose >	getPose (Pose2d prevEstimatedRobotPose)
Pose2d	getTagPose ()
Transform3d	robotToTag ()
int	getTagID ()
void	periodic ()

Constructor & Destructor Documentation

CameraSubsystem()

frc.robot.subsystems.vision.CameraSubsystem.CameraSubsystem	(	String	camName,
		Transform3d	camPose
	)

Creates a new CameraSubsystem

Parameters

camName	Name of the camera in the system
camPose	Transform3d of the camera's position relative to the robot

Member Function Documentation

getPose()

Optional<EstimatedRobotPose> frc.robot.subsystems.vision.CameraSubsystem.getPose

(

Pose2d

prevEstimatedRobotPose

)

Gets optional estimatedRobotPose from AprilTag data

Parameters

prevEstimatedRobotPose

Pose 2d reference position for the Photon Vision pose estimator to work off of

Returns

Optional estimatedRobotPose, a Pose3d and a timestamp in seconds

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The documentation for this class was generated from the following file:

• src/main/java/frc/robot/subsystems/vision/CameraSubsystem.java