Vision Subsystem

This template provides a partially completed WPILib Java project for a vision subsystem.
Programmers are expected to fill in the missing code to

1. Set up the Vision Simulation

   a. Set up the simulation camera's properties in the Constants file.

   b. Add the camera to the Vision Simulation.

2. View the Vision Simulator.

3. Be able to read the TX and TY values from SmartDashboard using Elastic.

The remainder of the document is a guide to how to get your simulation running.

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▶️ 1. Run the Robot in Simulation

Once you’ve filled in the required code, you can run the robot in simulation using the WPILib extension:

1. Open the Command Palette in VS Code: Ctrl+Shift+P (Windows) / Cmd+Shift+P (Mac).
2. Select WPILib: Simulate Robot Code.
3. Choose the option: Sim GUI.

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🎮 2. Set Up Robot Control

To control the robot simulation:

1. In AS, open the "Robot Simulation" window (usually on the right or bottom).
2. Under Joysticks, find the Joysticks[0] slot.
3. Drag Keyboard 0 into Joysticks[0] (unless you have a physical controller connected).
   • Joysticks[0], [1], etc., represent the slots used in your robot code (e.g., new Joystick(0)).
   • Binding Keyboard 0 simulates a gamepad using your keyboard.
4. Under Robot State, click “Teleoperated” to enable the robot.

🕹️ Default Keyboard Controls

• W = Drive Forward
• S = Drive Backward
• A = Drive Left
• D = Drive Right

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🔍 3. Open Elastic and Add Data

Elastic is used to obtain and read data provided by the robot.

1. Launch Elastic.
2. Right-click on the grey-shaded boxes and click Add Widget.
3. Click the SmartDashboard drop-down box.
4. Scroll all the way down until you see the TX and TY variables corresponding to your camera.
5. Drag the variables onto the grey-shaded boxes to be able to see the data.

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🗺️ 4. Open the Vision Simulator

1. In your web-brower, type in the URL: localhost:1182 (this is for the middle camera, increment by two for additional cameras. E.g: localhost:1184)
2. The Vision Simulator should be visible! Move the robot around and see the values change!