1-26-26 Localization¶

Anay Saran, William Hoang

Goals¶

First step in constants.java, make sure the variable USED_VISION is set to true and then find vision constants.
Under camera, create an enum variable, give it a name.
For the properties you need to go to limelight hardware manager and click find devices.
Then take the name and the IP adress, you add :5802.
In the constructor for nerd drive train, make sure the function set vision is set to true. In the periodic function, in the USED_VISION conditional, create a vision update function for your camera.

When you go to the IP address for the limelights, you can see at the top they are pipelines.
Pipelines are modes in which the limelights can process vision. In the code, we want disabled to be pipeline 0 and enabled to be pipeline 1.
However, the actual pipeline is 0 for enabled, becuse the one in the limelight dashboard works for pipeline 0 but not for pipeline 1.
In the vision update method, we changed the time stamp of the add vision measurement method to use utils.getCurrentTimeSeconds.
In the limelights dashboard, in settings we changed the team number to 687. This fixes localization.