Reefscape2025/frc.robot.subsystems/PhotonVision

PhotonVision

public class PhotonVision extends SubsystemBase

The PhotonVision class is a subsystem that interfaces with multiple PhotonVision cameras to provide vision tracking and pose estimation capabilities. This subsystem is a Singleton that manages multiple CameraModules and selects the best result based on pose ambiguity.

This subsystem provides methods to get the estimated global pose of the robot, the distance to targets, and the yaw of detected AprilTags. It also provides methods to check if a tag is visible and get the pivot position based on distance calculations.

Properties

public double dist

public double y

public double yaw

Functions

public double fetchDist(PhotonCamera camera)

public double fetchY(PhotonCamera camera)

public double fetchYaw(PhotonCamera camera)

public double getDist()

Gets the current distance to the target.

public static PhotonVision getInstance()

Returns the Singleton instance of this PhotonVision subsystem.

public List<Pair<PhotonModule, PhotonPipelineResult>> getResultPairs()

public double getY()

Gets the current Y position of the target.

public double getYaw()

Gets the current yaw angle to the target.

public boolean hasTag()

Checks if there is a visible tag.

public void logStdDev()

Logs the standard deviation norm for each camera.

public void periodic()

This method is called periodically by the CommandScheduler.

public PhotonCamera requestCamera(String cameraName)