Vision alignment #80
Vision alignment #80
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| this.driveSubsystem = driveSubsystem; | ||
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| recognitionCamera = new PhotonCamera("Microsoft_LifeCam_HD-3000"); | ||
| turnPID = new PIDController(0.2/35, 0.0, 0.0); |
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I'd use a ProfiledPIDController for this; see FollowPathCommand.
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Maybe after #76 gets tuned / merged this can use the setDrivePowersWithHeadingLock() method and not have to implement its own PID as well.
| private final PIDController turnPID; | ||
| PhotonCamera recognitionCamera; | ||
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| PhotonPipelineResult result; |
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Doesn't have to be a state?
| PhotonCamera recognitionCamera; | ||
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| PhotonPipelineResult result; | ||
| boolean hasTargets; |
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Also doesn't have to be a state
| public void execute() { | ||
| result = recognitionCamera.getLatestResult(); | ||
| hasTargets = result.hasTargets(); | ||
| target = result.getBestTarget(); |
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What does this object look like if hasTargets is false? Does the command end execution at all if that happens?
| public class VisionAlignmentCommand extends CommandBase { | ||
| private final BaseSwerveSubsystem driveSubsystem; | ||
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| private double angularPower; |
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Also doesn't have to be a state; you only need to store things in fields if you need to reference them across multiple methods or you need the previous value when rerunning the same method.
@rishay-jain