-
Notifications
You must be signed in to change notification settings - Fork 0
/
Limelight.java
186 lines (155 loc) · 5.37 KB
/
Limelight.java
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
package frc.robot.subsystems;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.controlsystems.PID;
import frc.loops.Loop;
import frc.robot.Controls;
import frc.util.Toggle;
public class Limelight extends Subsystem {
private static Limelight instance;
private NetworkTable tableFront;
private NetworkTable tableBack;
private NetworkTable table;
private NetworkTableEntry tx;
private NetworkTableEntry ta;
private NetworkTableEntry ledMode;
private NetworkTableEntry camMode;
private Toggle visionToggle;
private PID visionPID;
private PID drivePID;
private boolean isFrontCam;
private double turnkP = -0.007;
private double turnkI = 0.0;
private double turnkD = 0.0;
private double straightkP = 0.2;
private double straightkI = 0.0;
private double straightkD = 0.0;
public static Limelight getInstance() {
if (instance == null) {
instance = new Limelight();
}
return instance;
}
private Limelight() {
isFrontCam = true;
tableFront = NetworkTableInstance.getDefault().getTable("limelight-front");
tableBack = NetworkTableInstance.getDefault().getTable("limelight-back");
table = tableFront;
tx = table.getEntry("tx");
ta = table.getEntry("ta");
ledMode = table.getEntry("ledMode");
camMode = table.getEntry("camMode");
visionPID = new PID(turnkP, turnkI, turnkD);
drivePID = new PID(straightkP, straightkI, straightkD, 0, 0.25);
visionToggle = new Toggle();
}
public void setTrackingMode(boolean track) {
if (track) {
camMode.setDouble(0);
ledMode.setDouble(0);
} else {
camMode.setDouble(1);
ledMode.setDouble(1);
}
}
public void setVisionModeState(boolean isTracking) {
visionToggle.setToggleState(isTracking);
}
public boolean getTrackingMode() {
return table.getEntry("camMode").getDouble(0) == 0;
}
public double getValue() {
return visionPID.getUncappedValue(tx.getDouble(0.0), 0);
}
public boolean isFrontCam() {
return isFrontCam;
}
public double getThrottle(double inches) {
if (getArea() < 1.4) {
drivePID.setMax(0.2);
} else {
drivePID.setMax(0.15);
}
return (isFrontCam() ? 1 : -1) * drivePID.getValue(getArea(), inches);
}
public double getArea() {
return ta.getDouble(0.0);
}
@Override
protected Loop loop() {
return new Loop() {
@Override
public void onFirstStart(double time) {
}
@Override
public void onEnable(double time) {
// Set LED to pipeline mode
table = tableBack;
updateTable();
ledMode.setDouble(0);
table = tableFront;
updateTable();
ledMode.setDouble(0);
}
@Override
public void onDisable(double time) {
// Set LED to off
table = tableBack;
updateTable();
ledMode.setDouble(1);
table = tableFront;
updateTable();
ledMode.setDouble(1);
}
@Override
public void enabledLoop(double time) {
// Put value onto SmartDashboard
SmartDashboard.putNumber("tx PID Value", getValue());
SmartDashboard.putNumber("tx", tx.getDouble(0.0));
SmartDashboard.putNumber("ta", getArea());
// Update required values
updateTable();
visionToggle.update(Controls.getInstance().shouldVisionAssist());
setTrackingMode(visionToggle.getToggleState());
turnkP = SmartDashboard.getNumber("Limelight kP", turnkP);
turnkI = SmartDashboard.getNumber("Limelight kI", turnkI);
turnkD = SmartDashboard.getNumber("Limelight kD", turnkD);
}
@Override
public void disabledLoop(double time) {
table = tableBack;
updateTable();
setTrackingMode(false);
table = tableFront;
updateTable();
setTrackingMode(false);
}
@Override
public void allLoop(double time) {
if (getArea() > 5.9 && visionToggle.getToggleState()) {
Controls.getInstance().driverRumble(0.7, 100);
}
if (SubsystemManager.getInstance().getIsFrontPreset()) {
isFrontCam = true;
table = tableFront;
updateTable();
} else {
isFrontCam = false;
table = tableBack;
updateTable();
}
}
};
}
public void updateTable() {
tx = table.getEntry("tx");
ta = table.getEntry("ta");
ledMode = table.getEntry("ledMode");
camMode = table.getEntry("camMode");
}
@Override
public void zeroSensors() {
}
}