diff --git a/ascope_assets/Robot_REEFSCAPE2025/config.json b/ascope_assets/Robot_REEFSCAPE2025/config.json new file mode 100644 index 0000000..b0865fe --- /dev/null +++ b/ascope_assets/Robot_REEFSCAPE2025/config.json @@ -0,0 +1,120 @@ +{ + "name": "Talon540 Reefscape 2025 Robot", + "rotations": [ + { + "axis": "x", + "degrees": 90 + }, + { + "axis": "z", + "degrees": 90 + } + ], + "positions": [ + 0, + 0, + 0 + ], + "cameras": [ + { + "name": "frontright", + "fov": 70, + "resolution": [ + 1280, + 800 + ], + "position": [ + 0.206, + -0.272, + 0.221 + ], + "rotations": [ + { + "axis": "x", + "degrees": 0 + }, + { + "axis": "y", + "degrees": -20 + }, + { + "axis": "z", + "degrees": 35 + } + ] + }, + { + "name": "frontleft", + "fov": 70, + "resolution": [ + 1280, + 800 + ], + "position": [ + 0.206, + 0.272, + 0.221 + ], + "rotations": [ + { + "axis": "x", + "degrees": 0 + }, + { + "axis": "y", + "degrees": -20 + }, + { + "axis": "z", + "degrees": -35 + } + ] + }, + { + "name": "elevator", + "fov": 70, + "resolution": [ + 1280, + 800 + ], + "position": [ + 0.05, + 0, + 0.783 + ], + "rotations": [ + { + "axis": "x", + "degrees": 0 + }, + { + "axis": "y", + "degrees": -40 + }, + { + "axis": "z", + "degrees": 180 + } + ] + } + ], + "components": [ + { + "zeroedRotations": [ + { + "axis": "x", + "degrees": 90 + }, + { + "axis": "z", + "degrees": 90 + } + ], + "zeroedPosition": [ + 0, + 0, + 0 + ] + } + ] +} diff --git a/ascope_assets/Robot_REEFSCAPE2025/model.glb b/ascope_assets/Robot_REEFSCAPE2025/model.glb new file mode 100644 index 0000000..390b95a Binary files /dev/null and b/ascope_assets/Robot_REEFSCAPE2025/model.glb differ diff --git a/ascope_assets/Robot_REEFSCAPE2025/model_0.glb b/ascope_assets/Robot_REEFSCAPE2025/model_0.glb new file mode 100644 index 0000000..d35e67b Binary files /dev/null and b/ascope_assets/Robot_REEFSCAPE2025/model_0.glb differ diff --git a/build.gradle b/build.gradle index ea7a7aa..8305250 100644 --- a/build.gradle +++ b/build.gradle @@ -34,6 +34,12 @@ deploy { jvmArgs.add("-XX:GCTimeRatio=5") jvmArgs.add("-XX:+UseSerialGC") jvmArgs.add("-XX:MaxGCPauseMillis=50") + // jvmArgs.add("-Dcom.sun.management.jmxremote=true") + // jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198") + // jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false") + // jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false") + // jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false") + // jvmArgs.add("-Djava.rmi.server.hostname=10.5.40.2") // The options below may improve performance, but should only be enabled on the RIO 2 final MAX_JAVA_HEAP_SIZE_MB = 100; diff --git a/camera_calibrations/frontleft_calibration@1280x800.json b/camera_calibrations/frontleft_calibration@1280x800.json new file mode 100644 index 0000000..f286a82 --- /dev/null +++ b/camera_calibrations/frontleft_calibration@1280x800.json @@ -0,0 +1,110809 @@ +{ + "resolution": { + "width": 1280.0, + "height": 800.0 + }, + "cameraIntrinsics": { + "rows": 3, + "cols": 3, + 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"LENSMODEL_OPENCV" +} diff --git a/src/main/java/frc/robot/FieldConstants.java b/src/main/java/frc/robot/FieldConstants.java index 9a3e7b2..702042d 100644 --- a/src/main/java/frc/robot/FieldConstants.java +++ b/src/main/java/frc/robot/FieldConstants.java @@ -1,6 +1,7 @@ package frc.robot; import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.util.Units; import java.io.IOException; @@ -12,12 +13,12 @@ * have a blue alliance origin. */ public class FieldConstants { - public static AprilTagFieldLayout fieldLayout = AprilTagLayoutType.OFFICIAL.getFieldLayout(); + public static AprilTagFieldLayout fieldLayout = + AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); + + public static final double fieldLength = fieldLayout.getFieldLength(); + public static final double fieldWidth = fieldLayout.getFieldWidth(); - public static final double fieldLength = - AprilTagLayoutType.OFFICIAL.getFieldLayout().getFieldLength(); - public static final double fieldWidth = - AprilTagLayoutType.OFFICIAL.getFieldLayout().getFieldWidth(); public static final double startingLineX = Units.inchesToMeters(299.438); // Measured from the inside of starting line @@ -85,21 +86,40 @@ public static class Reef { public static final double faceToZoneLine = Units.inchesToMeters(12); // Side of the reef to the inside of the reef zone line + public static final Transform2d centerToRightBranch = + new Transform2d( + Units.inchesToMeters(20), + Units.inchesToMeters(6.469), + Rotation2d.fromDegrees(180)); // TODO + + public static final Transform2d centerToLeftBranch = + new Transform2d( + Units.inchesToMeters(20), + Units.inchesToMeters(-6.469), + Rotation2d.fromDegrees(180)); // TODO + public static final Pose2d[] centerFaces = - new Pose2d[6]; // Starting facing the driver station in clockwise order + new Pose2d[12]; // Starting facing the driver station in clockwise order + public static final List> branchPositions = new ArrayList<>(); // Starting at the right branch facing the driver station in clockwise public static final List> branchPositions2d = new ArrayList<>(); static { // Initialize faces - var aprilTagLayout = AprilTagLayoutType.OFFICIAL.getFieldLayout(); - centerFaces[0] = aprilTagLayout.getTagPose(18).get().toPose2d(); - centerFaces[1] = aprilTagLayout.getTagPose(19).get().toPose2d(); - centerFaces[2] = aprilTagLayout.getTagPose(20).get().toPose2d(); - centerFaces[3] = aprilTagLayout.getTagPose(21).get().toPose2d(); - centerFaces[4] = aprilTagLayout.getTagPose(22).get().toPose2d(); - centerFaces[5] = aprilTagLayout.getTagPose(17).get().toPose2d(); + // var aprilTagLayout = AprilTagLayoutType.OFFICIAL.getFieldLayout(); + centerFaces[0] = fieldLayout.getTagPose(18).get().toPose2d(); + centerFaces[1] = fieldLayout.getTagPose(19).get().toPose2d(); + centerFaces[2] = fieldLayout.getTagPose(20).get().toPose2d(); + centerFaces[3] = fieldLayout.getTagPose(21).get().toPose2d(); + centerFaces[4] = fieldLayout.getTagPose(22).get().toPose2d(); + centerFaces[5] = fieldLayout.getTagPose(17).get().toPose2d(); + centerFaces[6] = fieldLayout.getTagPose(7).get().toPose2d(); + centerFaces[7] = fieldLayout.getTagPose(6).get().toPose2d(); + centerFaces[8] = fieldLayout.getTagPose(11).get().toPose2d(); + centerFaces[9] = fieldLayout.getTagPose(10).get().toPose2d(); + centerFaces[10] = fieldLayout.getTagPose(9).get().toPose2d(); + centerFaces[11] = fieldLayout.getTagPose(8).get().toPose2d(); // Initialize branch positions for (int face = 0; face < 6; face++) { diff --git a/src/main/java/frc/robot/PoseEstimator.java b/src/main/java/frc/robot/PoseEstimator.java index 07a05af..889944d 100644 --- a/src/main/java/frc/robot/PoseEstimator.java +++ b/src/main/java/frc/robot/PoseEstimator.java @@ -3,34 +3,34 @@ import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; import edu.wpi.first.math.VecBuilder; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Twist2d; +import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.interpolation.TimeInterpolatableBuffer; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; import frc.robot.subsystems.drive.DriveBase; +import frc.robot.util.GeomUtil; +import java.util.*; import lombok.Getter; +import lombok.experimental.ExtensionMethod; import org.littletonrobotics.junction.AutoLogOutput; +@ExtensionMethod({GeomUtil.class}) public class PoseEstimator { - // Standard deviations of the pose estimate (x position in meters, y position in meters, and - // heading in radians). - // Increase these numbers to trust your state estimate less. - private static final Matrix odometryStateStdDevs = VecBuilder.fill(0.003, 0.003, 0.002); - private static final double poseBufferSizeSec = 2.0; - private static PoseEstimator instance; public static PoseEstimator getInstance() { - if (instance == null) { - instance = new PoseEstimator(); - } + if (instance == null) instance = new PoseEstimator(); return instance; } + // Standard deviations of the pose estimate (x position in meters, y position in meters, and + // heading in radians). + // Increase these numbers to trust your state estimate less. + private static final Matrix odometryStateStdDevs = VecBuilder.fill(0.003, 0.003, 0.002); + private static final double poseBufferSizeSec = 2.0; + @Getter @AutoLogOutput(key = "PoseEstimator/OdometryPose") private Pose2d odometryPose = new Pose2d(); @@ -67,38 +67,100 @@ public void resetPose(Pose2d pose) { // Gyro offset is the rotation that maps the old gyro rotation (estimated - offset) to the new // frame of rotation gyroOffset = pose.getRotation().minus(estimatedPose.getRotation().minus(gyroOffset)); + estimatedPose = pose; odometryPose = pose; poseBuffer.clear(); } - public void addOdometryObservation( - SwerveModulePosition[] wheelPositions, Rotation2d gyroAngle, double timestamp) { - var twist = kinematics.toTwist2d(lastWheelPositions, wheelPositions); - - // Update previous state - lastWheelPositions = wheelPositions; + public void addOdometryObservation(OdometryObservation observation) { + Twist2d twist = kinematics.toTwist2d(lastWheelPositions, observation.wheelPositions()); + lastWheelPositions = observation.wheelPositions(); Pose2d lastOdometryPose = odometryPose; - - // Update Odometry odometryPose = odometryPose.exp(twist); - - if (gyroAngle != null) { - // Use gyro measurement - // Add offset to measured angle - Rotation2d angle = gyroAngle.plus(gyroOffset); - odometryPose = new Pose2d(odometryPose.getTranslation(), angle); - } - + // Use gyro if connected + observation.gyroAngle.ifPresent( + gyroAngle -> { + // Add offset to measured angle + Rotation2d angle = gyroAngle.plus(gyroOffset); + odometryPose = new Pose2d(odometryPose.getTranslation(), angle); + }); // Add pose to buffer at timestamp - poseBuffer.addSample(timestamp, odometryPose); - + poseBuffer.addSample(observation.timestamp(), odometryPose); // Calculate diff from last odometry pose and add onto pose estimate Twist2d finalTwist = lastOdometryPose.log(odometryPose); estimatedPose = estimatedPose.exp(finalTwist); } + public void addVisionObservation(VisionObservation observation) { + // If measurement is old enough to be outside the pose buffer's timespan, skip. + try { + if (poseBuffer.getInternalBuffer().lastKey() - poseBufferSizeSec > observation.timestamp()) { + return; + } + } catch (NoSuchElementException ex) { + return; + } + // Get odometry based pose at timestamp + var sample = poseBuffer.getSample(observation.timestamp()); + if (sample.isEmpty()) { + // exit if not there + return; + } + + // sample --> odometryPose transform and backwards of that + var sampleToOdometryTransform = new Transform2d(sample.get(), odometryPose); + var odometryToSampleTransform = new Transform2d(odometryPose, sample.get()); + // get old estimate by applying odometryToSample Transform + Pose2d estimateAtTime = estimatedPose.plus(odometryToSampleTransform); + + // Calculate 3 x 3 vision matrix + var r = new double[3]; + for (int i = 0; i < 3; ++i) { + r[i] = observation.stdDevs().get(i, 0) * observation.stdDevs().get(i, 0); + } + // Solve for closed form Kalman gain for continuous Kalman filter with A = 0 + // and C = I. See wpimath/algorithms.md. + Matrix visionK = new Matrix<>(Nat.N3(), Nat.N3()); + for (int row = 0; row < 3; ++row) { + double stdDev = qStdDevs.get(row, 0); + if (stdDev == 0.0) { + visionK.set(row, row, 0.0); + } else { + visionK.set(row, row, stdDev / (stdDev + Math.sqrt(stdDev * r[row]))); + } + } + // difference between estimate and vision pose + Transform2d transform = new Transform2d(estimateAtTime, observation.visionPose()); + // scale transform by visionK + var kTimesTransform = + visionK.times( + VecBuilder.fill( + transform.getX(), transform.getY(), transform.getRotation().getRadians())); + Transform2d scaledTransform = + new Transform2d( + kTimesTransform.get(0, 0), + kTimesTransform.get(1, 0), + Rotation2d.fromRadians(kTimesTransform.get(2, 0))); + + // Recalculate current estimate by applying scaled transform to old estimate + // then replaying odometry data + estimatedPose = estimateAtTime.plus(scaledTransform).plus(sampleToOdometryTransform); + } + + // public void addTxTyObservation(TxTyObservation observation) {} + public Rotation2d getRotation() { return estimatedPose.getRotation(); } + + public record OdometryObservation( + SwerveModulePosition[] wheelPositions, Optional gyroAngle, double timestamp) {} + + public record VisionObservation(Pose2d visionPose, double timestamp, Matrix stdDevs) {} + + // public record TxTyObservation( + // int tagId, int camera, double[] tx, double[] ty, double distance, double timestamp) {} + // + // public record TxTyPoseRecord(Pose2d pose, double distance, double timestamp) {} } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9defebc..abfe85b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -22,6 +22,7 @@ import frc.robot.subsystems.intake.IntakeIO; import frc.robot.subsystems.intake.IntakeIOSim; import frc.robot.subsystems.intake.IntakeIOSpark; +import frc.robot.subsystems.vision.*; import frc.robot.util.AllianceFlipUtil; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; import org.littletonrobotics.junction.networktables.LoggedNetworkNumber; @@ -35,6 +36,7 @@ public class RobotContainer { private final IntakeBase intakeBase; private final ElevatorBase elevatorBase; private final DispenserBase dispenserBase; + private final VisionBase visionBase; // Controller private final CommandXboxController controller = new CommandXboxController(0); @@ -62,6 +64,7 @@ public RobotContainer() { intakeBase = new IntakeBase(new IntakeIOSpark()); elevatorBase = new ElevatorBase(new ElevatorIOSpark()); dispenserBase = new DispenserBase(new DispenserIOSpark()); + visionBase = new VisionBase(new VisionIOPhotonCamera(0), new VisionIOPhotonCamera(1)); } case SIM -> { driveBase = @@ -74,6 +77,7 @@ public RobotContainer() { intakeBase = new IntakeBase(new IntakeIOSim()); elevatorBase = new ElevatorBase(new ElevatorIOSim()); dispenserBase = new DispenserBase(new DispenserIOSim()); + visionBase = new VisionBase(new VisionIOSim(0), new VisionIOSim(1)); } default -> { driveBase = @@ -86,6 +90,7 @@ public RobotContainer() { intakeBase = new IntakeBase(new IntakeIO() {}); elevatorBase = new ElevatorBase(new ElevatorIO() {}); dispenserBase = new DispenserBase(new DispenserIO() {}); + visionBase = new VisionBase(new VisionIO() {}, new VisionIO() {}); } } diff --git a/src/main/java/frc/robot/commands/AutoRoutine.java b/src/main/java/frc/robot/commands/AutoRoutine.java deleted file mode 100644 index f515ed2..0000000 --- a/src/main/java/frc/robot/commands/AutoRoutine.java +++ /dev/null @@ -1,3 +0,0 @@ -package frc.robot.commands; - -public class AutoRoutine {} diff --git a/src/main/java/frc/robot/commands/DriveToPose.java b/src/main/java/frc/robot/commands/DriveToPose.java index 8914e2f..16cae22 100644 --- a/src/main/java/frc/robot/commands/DriveToPose.java +++ b/src/main/java/frc/robot/commands/DriveToPose.java @@ -1,11 +1,23 @@ package frc.robot.commands; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.PoseEstimator; import frc.robot.subsystems.drive.DriveBase; +import frc.robot.util.GeomUtil; import frc.robot.util.LoggedTunableNumber; +import java.util.function.DoubleSupplier; import java.util.function.Supplier; +import lombok.Getter; +import org.littletonrobotics.junction.Logger; public class DriveToPose extends Command { private static final LoggedTunableNumber drivekP = new LoggedTunableNumber("DriveToPose/DrivekP"); @@ -32,19 +44,215 @@ public class DriveToPose extends Command { new LoggedTunableNumber("DriveToPose/FFMaxRadius"); static { - drivekP.initDefault(0.75); + drivekP.initDefault(0.1); // TODO drivekD.initDefault(0.0); - thetakP.initDefault(4.0); + thetakP.initDefault(1.0); // TODO thetakD.initDefault(0.0); - driveMaxVelocity.initDefault(3.8); - driveMaxAcceleration.initDefault(3.0); + driveMaxVelocity.initDefault(3.8); // TODO + driveMaxVelocitySlow.initDefault(1); // TODO + driveMaxAcceleration.initDefault(3.0); // TODO + thetaMaxVelocity.initDefault(Units.degreesToRadians(360.0)); thetaMaxAcceleration.initDefault(8.0); driveTolerance.initDefault(0.01); thetaTolerance.initDefault(Units.degreesToRadians(1.0)); - ffMinRadius.initDefault(0.1); - ffMaxRadius.initDefault(0.15); + ffMinRadius.initDefault(0.05); + ffMaxRadius.initDefault(0.1); + } + + private final DriveBase drive; + private final Supplier target; + + private final ProfiledPIDController driveController = + new ProfiledPIDController( + 0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(0.0, 0.0), Constants.kLoopPeriodSecs); + private final ProfiledPIDController thetaController = + new ProfiledPIDController( + 0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(0.0, 0.0), Constants.kLoopPeriodSecs); + + private Translation2d lastSetpointTranslation = new Translation2d(); + private double driveErrorAbs = 0.0; + private double thetaErrorAbs = 0.0; + @Getter private boolean running = false; + private Supplier robot = PoseEstimator.getInstance()::getEstimatedPose; + + private Supplier linearFF = () -> Translation2d.kZero; + private DoubleSupplier omegaFF = () -> 0.0; + + public DriveToPose(DriveBase drive, Supplier target) { + this.drive = drive; + this.target = target; + + // Enable continuous input for theta controller + thetaController.enableContinuousInput(-Math.PI, Math.PI); + + addRequirements(drive); + } + + public DriveToPose(DriveBase drive, Supplier target, Supplier robot) { + this(drive, target); + this.robot = robot; + } + + public DriveToPose( + DriveBase drive, + Supplier target, + Supplier robot, + Supplier linearFF, + DoubleSupplier omegaFF) { + this(drive, target, robot); + this.linearFF = linearFF; + this.omegaFF = omegaFF; + } + + @Override + public void initialize() { + Pose2d currentPose = robot.get(); + ChassisSpeeds fieldVelocity = + ChassisSpeeds.fromRobotRelativeSpeeds( + drive.getChassisSpeeds(), PoseEstimator.getInstance().getRotation()); + Translation2d linearFieldVelocity = + new Translation2d(fieldVelocity.vxMetersPerSecond, fieldVelocity.vyMetersPerSecond); + driveController.reset( + currentPose.getTranslation().getDistance(target.get().getTranslation()), + Math.min( + 0.0, + -linearFieldVelocity + .rotateBy( + target + .get() + .getTranslation() + .minus(currentPose.getTranslation()) + .getAngle() + .unaryMinus()) + .getX())); + thetaController.reset( + currentPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); + lastSetpointTranslation = currentPose.getTranslation(); } - public DriveToPose(DriveBase drive, Supplier target) {} + @Override + public void execute() { + running = true; + + // Update from tunable numbers + if (driveMaxVelocity.hasChanged(hashCode()) + || driveMaxVelocitySlow.hasChanged(hashCode()) + || driveMaxAcceleration.hasChanged(hashCode()) + || driveTolerance.hasChanged(hashCode()) + || thetaMaxVelocity.hasChanged(hashCode()) + || thetaMaxAcceleration.hasChanged(hashCode()) + || thetaTolerance.hasChanged(hashCode()) + || drivekP.hasChanged(hashCode()) + || drivekD.hasChanged(hashCode()) + || thetakP.hasChanged(hashCode()) + || thetakD.hasChanged(hashCode())) { + driveController.setP(drivekP.get()); + driveController.setD(drivekD.get()); + driveController.setConstraints( + new TrapezoidProfile.Constraints(driveMaxVelocitySlow.get(), driveMaxAcceleration.get())); + driveController.setTolerance(driveTolerance.get()); + thetaController.setP(thetakP.get()); + thetaController.setD(thetakD.get()); + thetaController.setConstraints( + new TrapezoidProfile.Constraints(thetaMaxVelocity.get(), thetaMaxAcceleration.get())); + thetaController.setTolerance(thetaTolerance.get()); + } + + // Get current pose and target pose + Pose2d currentPose = robot.get(); + Pose2d targetPose = target.get(); + + // Calculate drive speed + double currentDistance = currentPose.getTranslation().getDistance(targetPose.getTranslation()); + double ffScaler = + MathUtil.clamp( + (currentDistance - ffMinRadius.get()) / (ffMaxRadius.get() - ffMinRadius.get()), + 0.0, + 1.0); + driveErrorAbs = currentDistance; + driveController.reset( + lastSetpointTranslation.getDistance(targetPose.getTranslation()), + driveController.getSetpoint().velocity); + double driveVelocityScalar = + driveController.getSetpoint().velocity * ffScaler + + driveController.calculate(driveErrorAbs, 0.0); + if (currentDistance < driveController.getPositionTolerance()) driveVelocityScalar = 0.0; + lastSetpointTranslation = + new Pose2d( + targetPose.getTranslation(), + currentPose.getTranslation().minus(targetPose.getTranslation()).getAngle()) + .transformBy(GeomUtil.toTransform2d(driveController.getSetpoint().position, 0.0)) + .getTranslation(); + + // Calculate theta speed + double thetaVelocity = + thetaController.getSetpoint().velocity * ffScaler + + thetaController.calculate( + currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians()); + thetaErrorAbs = + Math.abs(currentPose.getRotation().minus(targetPose.getRotation()).getRadians()); + if (thetaErrorAbs < thetaController.getPositionTolerance()) thetaVelocity = 0.0; + + Translation2d driveVelocity = + new Pose2d( + new Translation2d(), + currentPose.getTranslation().minus(targetPose.getTranslation()).getAngle()) + .transformBy(GeomUtil.toTransform2d(driveVelocityScalar, 0.0)) + .getTranslation(); + + // Scale feedback velocities by input ff + final double linearS = linearFF.get().getNorm() * 3.0; + final double thetaS = Math.abs(omegaFF.getAsDouble()) * 3.0; + driveVelocity = + driveVelocity.interpolate( + linearFF.get().times(DriveBase.getMaxLinearVelocityMetersPerSecond()), linearS); + thetaVelocity = + MathUtil.interpolate( + thetaVelocity, + omegaFF.getAsDouble() * DriveBase.getMaxLinearVelocityMetersPerSecond(), + thetaS); + + // Command speeds + drive.runVelocity( + ChassisSpeeds.fromFieldRelativeSpeeds( + driveVelocity.getX(), driveVelocity.getY(), thetaVelocity, currentPose.getRotation())); + + // Log data + Logger.recordOutput("DriveToPose/DistanceMeasured", currentDistance); + Logger.recordOutput("DriveToPose/DistanceSetpoint", driveController.getSetpoint().position); + Logger.recordOutput("DriveToPose/ThetaMeasured", currentPose.getRotation().getRadians()); + Logger.recordOutput("DriveToPose/ThetaSetpoint", thetaController.getSetpoint().position); + Logger.recordOutput( + "DriveToPose/Setpoint", + new Pose2d[] { + new Pose2d( + lastSetpointTranslation, + Rotation2d.fromRadians(thetaController.getSetpoint().position)) + }); + Logger.recordOutput("DriveToPose/Goal", new Pose2d[] {targetPose}); + + if (atGoal()) end(false); + } + + @Override + public void end(boolean interrupted) { + drive.stop(); + running = false; + // Clear logs + Logger.recordOutput("DriveToPose/Setpoint", new Pose2d[] {}); + Logger.recordOutput("DriveToPose/Goal", new Pose2d[] {}); + } + + /** Checks if the robot is stopped at the final pose. */ + public boolean atGoal() { + return running && driveController.atGoal() && thetaController.atGoal(); + } + + /** Checks if the robot pose is within the allowed drive and theta tolerances. */ + public boolean withinTolerance(double driveTolerance, Rotation2d thetaTolerance) { + return running + && Math.abs(driveErrorAbs) < driveTolerance + && Math.abs(thetaErrorAbs) < thetaTolerance.getRadians(); + } } diff --git a/src/main/java/frc/robot/commands/DriveTrajectory.java b/src/main/java/frc/robot/commands/DriveTrajectory.java deleted file mode 100644 index 11a161c..0000000 --- a/src/main/java/frc/robot/commands/DriveTrajectory.java +++ /dev/null @@ -1,8 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.drive.DriveBase; - -public class DriveTrajectory extends Command { - public DriveTrajectory(DriveBase drive) {} -} diff --git a/src/main/java/frc/robot/subsystems/drive/DriveBase.java b/src/main/java/frc/robot/subsystems/drive/DriveBase.java index 459c43d..2da1656 100644 --- a/src/main/java/frc/robot/subsystems/drive/DriveBase.java +++ b/src/main/java/frc/robot/subsystems/drive/DriveBase.java @@ -20,12 +20,14 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; import frc.robot.Constants; import frc.robot.PoseEstimator; +import frc.robot.PoseEstimator.OdometryObservation; import frc.robot.util.LoggedTunableNumber; import frc.robot.util.swerve.SwerveSetpointGenerator; import java.text.DecimalFormat; import java.text.NumberFormat; import java.util.LinkedList; import java.util.List; +import java.util.Optional; import java.util.Queue; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -157,9 +159,11 @@ public void periodic() { } PoseEstimator.getInstance() .addOdometryObservation( - wheelPositions, - m_gyroInputs.connected ? m_gyroInputs.odometryYawPositions[i] : null, - timestamps[i]); + new OdometryObservation( + wheelPositions, + Optional.ofNullable( + m_gyroInputs.connected ? m_gyroInputs.odometryYawPositions[i] : null), + timestamps[i])); } // Disable brake mode a short duration after the robot is disabled @@ -228,8 +232,6 @@ public void runVelocity(ChassisSpeeds speeds) { } } - // CAN CONNECTOR ON CANID 6 MUST BE REPLACED BEFORE COMP - /** Runs the drive in a straight(ish) line with the specified drive output. */ public void runCharacterization(double output) { CLOSED_LOOP_MODE = false; @@ -278,7 +280,7 @@ private SwerveModulePosition[] getModulePositions() { /** Returns the measured chassis speeds of the robot. */ @AutoLogOutput(key = "SwerveChassisSpeeds/Measured") - private ChassisSpeeds getChassisSpeeds() { + public ChassisSpeeds getChassisSpeeds() { return kinematics.toChassisSpeeds(getModuleStates()); } diff --git a/src/main/java/frc/robot/subsystems/vision/VisionBase.java b/src/main/java/frc/robot/subsystems/vision/VisionBase.java new file mode 100644 index 0000000..61d5c2c --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/VisionBase.java @@ -0,0 +1,226 @@ +package frc.robot.subsystems.vision; + +import static frc.robot.subsystems.vision.VisionConstants.*; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.FieldConstants; +import frc.robot.PoseEstimator; +import frc.robot.PoseEstimator.VisionObservation; +import frc.robot.util.GeomUtil; +import frc.robot.util.LoggedTunableNumber; +import java.util.*; +import org.littletonrobotics.junction.Logger; + +public class VisionBase extends SubsystemBase { + private static final double disconnectedTimeout = 0.5; + public static final LoggedTunableNumber timestampOffset = + new LoggedTunableNumber("AprilTagVision/TimestampOffset", 0.0); + + private final VisionIO[] io; + private final VisionIOInputsAutoLogged[] inputs; + + private final Timer[] disconnectedTimers; + private final Alert[] cameraDisconnectedAlerts; + + private final Map lastFrameTimes = new HashMap<>(); + private final Map lastTagDetectionTimes = new HashMap<>(); + + public VisionBase(VisionIO... camIOs) { + io = camIOs; + + inputs = new VisionIOInputsAutoLogged[io.length]; + disconnectedTimers = new Timer[io.length]; + cameraDisconnectedAlerts = new Alert[io.length]; + + for (int i = 0; i < io.length; i++) { + inputs[i] = new VisionIOInputsAutoLogged(); + cameraDisconnectedAlerts[i] = new Alert("", Alert.AlertType.kError); + } + + for (int i = 0; i < io.length; i++) { + disconnectedTimers[i] = new Timer(); + disconnectedTimers[i].start(); + } + } + + @Override + public void periodic() { + // Update Inputs + for (int i = 0; i < io.length; i++) { + io[i].updateInputs(inputs[i]); + Logger.processInputs( + String.format("Vision/Inst%d (%s)", i, cameras[i].cameraName()), inputs[i]); + } + + // TODO Update LEDs based on vision state + // Update disconnected alerts + for (int i = 0; i < io.length; i++) { + if (inputs[i].observations.length > 0) { + disconnectedTimers[i].reset(); + } + + boolean disconnected = + disconnectedTimers[i].hasElapsed(disconnectedTimeout) || !inputs[i].ntConnected; + if (disconnected) { + cameraDisconnectedAlerts[i].setText( + inputs[i].ntConnected + ? String.format( + "Vision Inst%d (%s) connected to NT but not publishing frames", + i, cameras[i].cameraName()) + : String.format( + "Vision Inst%d (%s) disconnected from NT", i, cameras[i].cameraName())); + } + cameraDisconnectedAlerts[i].set(disconnected); + } + + // Loop over instances + List allRobotPoses = new ArrayList<>(); + List allVisionObservations = new ArrayList<>(); + // Map allTxTyObservations = new HashMap<>(); + for (int i = 0; i < io.length; i++) { + for (var observation : inputs[i].observations) { + var timestamp = observation.timestamp() + timestampOffset.get(); + + // Switch based on detection technique + Pose3d cameraPose = null; + Pose2d robotPose = null; + boolean useVisionRotation = false; + Matrix baseStdevs = null; + + if (observation.multitagTagToCamera() != null) { + // Handle Multitag + cameraPose = GeomUtil.toPose3d(observation.multitagTagToCamera()); + robotPose = + cameraPose + .toPose2d() + .transformBy(GeomUtil.toTransform2d(cameras[i].robotToCamera()).inverse()); + useVisionRotation = true; + baseStdevs = multiTagStdevs; + } else if (observation.bestTagToCamera() != null) { + // Handle Singletag + if (observation.ambiguity() > ambiguityThreshold) { + continue; + } + + var bestCamPose = GeomUtil.toPose3d(observation.bestTagToCamera()); + var altCamPose = GeomUtil.toPose3d(observation.altTagToCamera()); + + Transform2d cameraToRobot = GeomUtil.toTransform2d(cameras[i].robotToCamera()).inverse(); + var bestPose = bestCamPose.toPose2d().transformBy(cameraToRobot); + var altPose = altCamPose.toPose2d().transformBy(cameraToRobot); + + // TODO latency compensate this to get rotation at this timestamp + var currentRot = PoseEstimator.getInstance().getRotation(); + var bestRot = bestPose.getRotation(); + var altRot = altPose.getRotation(); + + if (Math.abs(currentRot.minus(bestRot).getRadians()) + < Math.abs(currentRot.minus(altRot).getRadians())) { + cameraPose = bestCamPose; + robotPose = bestPose; + } else { + cameraPose = altCamPose; + robotPose = altPose; + } + + useVisionRotation = false; + baseStdevs = singleTagStdevs; + } + + // Exit if no data + if (cameraPose == null || robotPose == null) { + continue; + } + + // Exit if robot pose is off the field or outside of reasonable bounds + if (robotPose.getX() < -fieldBorderMargin + || robotPose.getX() > FieldConstants.fieldLength + fieldBorderMargin + || robotPose.getY() < -fieldBorderMargin + || robotPose.getY() > FieldConstants.fieldWidth + fieldBorderMargin) { + continue; + } + + // Get tag poses and update last detection times + List tagPoses = new ArrayList<>(); + for (int tagId : observation.detectedTagsIds()) { + lastTagDetectionTimes.put(tagId, Timer.getTimestamp()); + FieldConstants.fieldLayout.getTagPose(tagId).ifPresent(tagPoses::add); + } + + // Calculate average distance to tag + double totalDistance = 0.0; + for (Pose3d tagPose : tagPoses) { + totalDistance += tagPose.getTranslation().getDistance(cameraPose.getTranslation()); + } + double avgDistance = totalDistance / tagPoses.size(); + + // Update observation trust matrix + double xyStdev = Math.pow(avgDistance, 2) / tagPoses.size() * cameras[i].cameraBiasScalar(); + double rotStdev = + useVisionRotation + ? Math.pow(avgDistance, 2) / tagPoses.size() * cameras[i].cameraBiasScalar() + : Double.POSITIVE_INFINITY; + var observationStdevs = + baseStdevs.elementTimes(VecBuilder.fill(xyStdev, xyStdev, rotStdev)); + + allVisionObservations.add(new VisionObservation(robotPose, timestamp, observationStdevs)); + allRobotPoses.add(robotPose); + + // Log data from instance + if (enableInstanceLogging) { + Logger.recordOutput( + "AprilTagVision/Inst" + i + "/LatencySecs", Timer.getTimestamp() - timestamp); + Logger.recordOutput("AprilTagVision/Inst" + i + "/RobotPose", robotPose); + Logger.recordOutput( + "AprilTagVision/Inst" + i + "/TagPoses", tagPoses.toArray(Pose3d[]::new)); + } + } + + // TODO handle TxTy + // TODO figure out if we want to figure out local pose estimation + // // Get tag tx ty observation data + // Map txTyObservations = new HashMap<>(); + // for(var observation : inputs[i].observations) { + // var timestamp = observation.timestamp() + timestampOffset.get(); + // } + + // If no frames from instances, clear robot pose + if (enableInstanceLogging && inputs[i].observations.length == 0) { + Logger.recordOutput("AprilTagVision/Inst" + i + "/RobotPose", Pose2d.kZero); + } + + // If no recent frames from instance, clear tag poses + if (enableInstanceLogging + && Timer.getTimestamp() - lastFrameTimes.get(i) > targetLogTimeSecs) { + Logger.recordOutput("AprilTagVision/Inst" + i + "/TagPoses", new Pose3d[] {}); + } + } + + // Log robot poses + Logger.recordOutput("AprilTagVision/RobotPoses", allRobotPoses.toArray(Pose2d[]::new)); + + // Log tag poses + List allTagPoses = new ArrayList<>(); + for (Map.Entry detectionEntry : lastTagDetectionTimes.entrySet()) { + if (Timer.getTimestamp() - detectionEntry.getValue() < targetLogTimeSecs) { + FieldConstants.fieldLayout.getTagPose(detectionEntry.getKey()).ifPresent(allTagPoses::add); + } + } + Logger.recordOutput("AprilTagVision/TagPoses", allTagPoses.toArray(Pose3d[]::new)); + + // Send results to robot state + allVisionObservations.stream() + .sorted(Comparator.comparingDouble(VisionObservation::timestamp)) + .forEach(PoseEstimator.getInstance()::addVisionObservation); + // allTxTyObservations.values().stream().forEach(PoseEstimator.getInstance()::addTxTyObservation); + } +} diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java new file mode 100644 index 0000000..1ca5c47 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java @@ -0,0 +1,71 @@ +// Copyright (c) 2025 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// Use of this source code is governed by an MIT-style +// license that can be found in the LICENSE file at +// the root directory of this project. + +package frc.robot.subsystems.vision; + +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.Vector; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.numbers.N3; +import frc.robot.Constants; +import java.nio.file.Path; +import lombok.Builder; + +class VisionConstants { + private static final boolean forceEnableInstanceLogging = true; + public static final boolean enableInstanceLogging = + forceEnableInstanceLogging || Constants.getMode() == Constants.Mode.REPLAY; + + public static final double ambiguityThreshold = 0.4; + public static final double targetLogTimeSecs = 0.1; + public static final double fieldBorderMargin = 0.5; + + public static final Vector singleTagStdevs = + VecBuilder.fill(0.1, 0.1, Math.toRadians(5.0)); // TODO + public static final Vector multiTagStdevs = + VecBuilder.fill(0.015, 0.015, Math.toRadians(2.0)); // TODO + + public static CameraConfig[] cameras = + switch (Constants.getRobot()) { + case COMPBOT, SIMBOT -> + new CameraConfig[] { + CameraConfig.builder() + .cameraName("frontleft") + .robotToCamera( + new Transform3d( + 0.206, + 0.272, + 0.221, + new Rotation3d(0, Math.toRadians(-20), Math.toRadians(-35)))) + .cameraBiasScalar(1.0) + .calibrationPath( + Path.of("camera_calibrations/frontleft_calibration@1280x800.json")) + .build(), + CameraConfig.builder() + .cameraName("frontright") + .robotToCamera( + new Transform3d( + 0.206, + -0.272, + 0.221, + new Rotation3d(0, Math.toRadians(-20), Math.toRadians(35)))) + .cameraBiasScalar(1.0) + .calibrationPath( + Path.of("camera_calibrations/frontright_calibration@1280x800.json")) + .build() + }; + default -> new CameraConfig[] {}; + }; + + @Builder + public record CameraConfig( + String cameraName, + Transform3d robotToCamera, + double cameraBiasScalar, + Path calibrationPath) {} +} diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/src/main/java/frc/robot/subsystems/vision/VisionIO.java new file mode 100644 index 0000000..3a43fb2 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/VisionIO.java @@ -0,0 +1,25 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.math.geometry.Transform3d; +import lombok.Builder; +import org.littletonrobotics.junction.AutoLog; + +public interface VisionIO { + @AutoLog + public static class VisionIOInputs { + public boolean ntConnected = false; + + public PoseObservation[] observations = new PoseObservation[0]; + } + + @Builder + public static record PoseObservation( + double timestamp, + Transform3d multitagTagToCamera, + Transform3d bestTagToCamera, + Transform3d altTagToCamera, + double ambiguity, + int[] detectedTagsIds) {} + + public default void updateInputs(VisionIOInputs inputs) {} +} diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonCamera.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonCamera.java new file mode 100644 index 0000000..c56fba1 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonCamera.java @@ -0,0 +1,55 @@ +package frc.robot.subsystems.vision; + +import static frc.robot.subsystems.vision.VisionConstants.*; + +import java.util.LinkedList; +import java.util.List; +import org.photonvision.PhotonCamera; +import org.photonvision.targeting.PhotonTrackedTarget; + +public class VisionIOPhotonCamera implements VisionIO { + protected final PhotonCamera camera; + + public VisionIOPhotonCamera(int index) { + camera = new PhotonCamera(cameras[index].cameraName()); + } + + @Override + public void updateInputs(VisionIOInputs inputs) { + inputs.ntConnected = camera.isConnected(); + + // Read new camera observations + List poseObservations = new LinkedList<>(); + + // Process camera results + for (var result : camera.getAllUnreadResults()) { + var observationBuilder = PoseObservation.builder().timestamp(result.getTimestampSeconds()); + + var multitagResOpt = result.getMultiTagResult(); + if (multitagResOpt.isPresent()) { + var multitagRes = multitagResOpt.get(); + + observationBuilder + .multitagTagToCamera(multitagRes.estimatedPose.best) + .ambiguity(multitagRes.estimatedPose.ambiguity) + .detectedTagsIds( + multitagRes.fiducialIDsUsed.stream().mapToInt(Short::shortValue).toArray()); + } else if (result.hasTargets()) { + var singletagDetection = result.getBestTarget(); + + observationBuilder + .bestTagToCamera(singletagDetection.bestCameraToTarget) + .altTagToCamera(singletagDetection.altCameraToTarget) + .ambiguity(singletagDetection.poseAmbiguity) + .detectedTagsIds( + result.getTargets().stream() + .mapToInt(PhotonTrackedTarget::getFiducialId) + .toArray()); + } + + poseObservations.add(observationBuilder.build()); + } + + inputs.observations = poseObservations.toArray(new PoseObservation[0]); + } +} diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java b/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java new file mode 100644 index 0000000..4cdbff5 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java @@ -0,0 +1,90 @@ +package frc.robot.subsystems.vision; + +import static frc.robot.subsystems.vision.VisionConstants.*; + +import com.fasterxml.jackson.databind.ObjectMapper; +import edu.wpi.first.math.MatBuilder; +import edu.wpi.first.math.Nat; +import frc.robot.Constants; +import frc.robot.FieldConstants; +import frc.robot.PoseEstimator; +import java.io.IOException; +import java.nio.file.Path; +import org.photonvision.simulation.PhotonCameraSim; +import org.photonvision.simulation.SimCameraProperties; +import org.photonvision.simulation.VisionSystemSim; + +public class VisionIOSim extends VisionIOPhotonCamera { + private static VisionSystemSim m_visionSystemSim; + + static { + if (Constants.getRobot() == Constants.RobotType.SIMBOT) { + m_visionSystemSim = new VisionSystemSim("main"); + m_visionSystemSim.addAprilTags(FieldConstants.fieldLayout); + } + } + + public VisionIOSim(int index) { + super(index); + var cameraProps = new SimCameraProperties(); + // Photon camera sim is currently out of date with the calibration export model, so we can only + // pull the camera intrinsics and distortion from it + try { + setCalibrationFromConfig(cameras[index].calibrationPath(), 1280, 800, cameraProps); + } catch (IOException e) { + throw new RuntimeException("Unable to parse calibration data from file"); + } + + // These are per camera but this average is good enough + cameraProps.setCalibError(.30, 0.05); + cameraProps.setFPS(50); + cameraProps.setAvgLatencyMs(25); + cameraProps.setLatencyStdDevMs(10); + + var camSim = new PhotonCameraSim(this.camera, cameraProps); + camSim.enableRawStream(false); + camSim.enableProcessedStream(false); + camSim.enableDrawWireframe(false); + + m_visionSystemSim.addCamera(camSim, cameras[index].robotToCamera()); + } + + @Override + public void updateInputs(VisionIOInputs inputs) { + m_visionSystemSim.update(PoseEstimator.getInstance().getEstimatedPose()); + super.updateInputs(inputs); + } + + private void setCalibrationFromConfig( + Path path, int resWidth, int resHeight, SimCameraProperties properties) + throws IOException, IllegalStateException { + var mapper = new ObjectMapper(); + var calibData = mapper.readTree(path.toFile()); + int jsonWidth = calibData.get("resolution").get("width").asInt(); + int jsonHeight = calibData.get("resolution").get("height").asInt(); + if (jsonWidth != resWidth || jsonHeight != resHeight) { + throw new IllegalStateException( + "The provided calibration file doesn't match the requested resolution"); + } + + var jsonIntrinsicsNode = calibData.get("cameraIntrinsics").get("data"); + double[] jsonIntrinsics = new double[jsonIntrinsicsNode.size()]; + for (int j = 0; j < jsonIntrinsicsNode.size(); j++) { + jsonIntrinsics[j] = jsonIntrinsicsNode.get(j).asDouble(); + } + var jsonDistortNode = calibData.get("distCoeffs").get("data"); + // Calibration model only needs to include first five elements of the distortion vector. + // https://discord.com/channels/725836368059826228/725848198794706994/1210448658936365076 + int numCol = Math.min(8, jsonDistortNode.size()); + double[] jsonDistortion = new double[numCol]; + for (int j = 0; j < numCol; j++) { + jsonDistortion[j] = jsonDistortNode.get(j).asDouble(); + } + + properties.setCalibration( + jsonWidth, + jsonHeight, + MatBuilder.fill(Nat.N3(), Nat.N3(), jsonIntrinsics), + MatBuilder.fill(Nat.N8(), Nat.N1(), jsonDistortion)); + } +} diff --git a/src/main/java/frc/robot/util/GeomUtil.java b/src/main/java/frc/robot/util/GeomUtil.java index f50dcad..d0ade0f 100644 --- a/src/main/java/frc/robot/util/GeomUtil.java +++ b/src/main/java/frc/robot/util/GeomUtil.java @@ -26,6 +26,13 @@ public static Transform2d toTransform2d(double x, double y) { return new Transform2d(x, y, new Rotation2d()); } + public static Transform2d toTransform2d(Transform3d transform) { + return new Transform2d( + transform.getTranslation().getX(), + transform.getTranslation().getY(), + transform.getRotation().toRotation2d()); + } + /** * Creates a pure rotating transform * diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json new file mode 100644 index 0000000..32a648c --- /dev/null +++ b/vendordeps/photonlib.json @@ -0,0 +1,71 @@ +{ + "fileName": "photonlib.json", + "name": "photonlib", + "version": "v2025.2.1", + "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", + "frcYear": "2025", + "mavenUrls": [ + "https://maven.photonvision.org/repository/internal", + "https://maven.photonvision.org/repository/snapshots" + ], + "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", + "jniDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2025.2.1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-cpp", + "version": "v2025.2.1", + "libName": "photonlib", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2025.2.1", + "libName": "photontargeting", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "javaDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-java", + "version": "v2025.2.1" + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-java", + "version": "v2025.2.1" + } + ] +}