Vision #2

me-it-is · 2026-02-08T01:24:40Z

Tested irl on commit 224fb89 with f424890 reverted because the orange pi was still running 2025 photon vision
only formatting changes made since then and it works in sim.

…ion from vision

jovapo

Comments in line. The main items are:

isMinimumDistanceTooSmall naming confusing: the name says "too small" but the logic rejects targets that are too far (>= 2.5m). Either rename or fix the logic.
FieldCentricFacingAngle allocated every loop cycle: creates a new object + resets the heading PID every 20ms. Pull it out to a field like the other swerve requests.
Try to get pose from lib not hard coded

jovapo · 2026-02-11T00:11:16Z

src/main/java/frc/robot/subsystems/vision/Vision.java

+    return false;
+  }
+
+  public boolean isMinimumDistanceTooSmall(EstimatedRobotPose pose) {


isMinimumDistanceTooSmall could have a better name — the logic rejects poses where distance is large (>= 2.5m), not small. Consider renaming to isClosestTagTooFar or similar.

src/main/java/frc/robot/subsystems/vision/Vision.java

jovapo · 2026-02-11T00:11:16Z

src/main/java/frc/robot/subsystems/vision/Vision.java

+
+  private List<CamAndEstimator> cameras = new ArrayList<>();
+
+  public Consumer<VisionPose> updateDrivetrain;


These fields (updateDrivetrain, getSimPose, visionSim, cameraProp) should be private. Being public + @Logged may cause issues with non-serializable types like VisionSystemSim.

jovapo · 2026-02-11T00:11:16Z

src/main/java/frc/robot/subsystems/vision/Vision.java

+    }
+  }
+
+  public boolean usingTwoTags(EstimatedRobotPose pose) {


usingTwoTags is defined but never called — remove it or wire it up.

jovapo · 2026-02-11T00:11:16Z

src/main/java/frc/robot/subsystems/vision/Vision.java

+        && (pose.estimatedPose.getY() > 0);
+  }
+
+  public Pose3d khubLoc() {


khubLoc() is unused and doesn't follow Java naming conventions. Remove or rename to getHubLocation().

jovapo · 2026-02-11T00:11:16Z

src/main/java/frc/robot/subsystems/vision/VisionConstants.java

+
+  public static final double kAmbiguityTolerance = 0.25;
+  public static final double kDistanceTolerance = 2.5;
+  public static final double kMaxAngleTolerance = 70;


kMaxAngleTolerance is defined but never used anywhere. Remove or add TODO for future use.

jovapo · 2026-02-11T00:11:16Z

src/main/java/frc/robot/subsystems/vision/VisionConstants.java

+  public static final Distance kFieldHeight = Meters.of(8.07); // y
+  public static final Distance kFieldWidth = Meters.of(16.54); // x
+
+  public static List<Transform3d> kCameraOffsets =


kCameraOffsets should be final and use List.of(...) directly instead of wrapping in new ArrayList<>(). Currently it's a mutable list — anyone could accidentally .add() or .clear() it.

jovapo · 2026-02-11T00:11:16Z

src/main/java/frc/robot/subsystems/vision/VisionConstants.java

+              /*new Transform3d(0, -0.4347972, 0.54864, new Rotation3d(0, 0, Math.PI / 2))*/ ));
+
+  public static final Pose3d kHubLocation =
+      new Pose3d(Inches.of(469.11), Inches.of(158.84), Inches.of(72), new Rotation3d()); // );


Is there some constant we can reference in the frc lib? That would be better than something hard coded here. If you need to hardcode it make sure this pose3D constructor actually takes Distance vs doubles.

There's not much of a point doing calculations on the april-tag maps when you can just reference the field drawings

jovapo · 2026-02-11T00:11:16Z

src/main/java/frc/robot/subsystems/vision/VisionConstants.java

+
+  public static final Pose3d kHubLocation =
+      new Pose3d(Inches.of(469.11), Inches.of(158.84), Inches.of(72), new Rotation3d()); // );
+  public static Matrix<N3, N1> kBaseDeviation = VecBuilder.fill(1.5, 1.5, 10);


kBaseDeviation is missing final.

jovapo · 2026-02-11T00:32:58Z

src/main/java/frc/robot/subsystems/vision/Vision.java

+      cameraProp = new SimCameraProperties();
+      cameraProp.setCalibration(1280, 800, Rotation2d.fromDegrees(70));
+      cameraProp.setCalibError(0.25, 0.08);
+      cameraProp.setFPS(20);


This should be 59 or ~60

jovapo · 2026-02-11T01:00:24Z

src/main/java/frc/robot/subsystems/vision/Vision.java

+      }
+    }
+
+    if (minDistance >= kDistanceTolerance) {


minDistance can at most be 1 but kDistanceTolerance is set to 2.5 so this will never trigger

…he logic to make sense

jovapo

a few minor things still to fix but giving a stamp to unblock.

src/main/java/frc/robot/subsystems/vision/Vision.java

jovapo · 2026-02-11T06:28:30Z

src/main/java/frc/robot/RobotContainer.java

+            drivetrain.applyRequest(
+                () ->
+                    // on y button press rotate robot to angle from getAngleToHub()
+                    new SwerveRequest.FieldCentricFacingAngle()


we can cover best practices here at a later meeting. This will add some latency but might not be the worst. The real question is how many times will this be called in a round. If over 100 (could be) then likely we should fix it.

DoraChad and others added 28 commits January 23, 2026 16:22

port 2025 rewrite changes to 2026

591d2da

maple sim addition

d878805

Ignore maple-sim vendordep

7b712f8

added maple sim vendordep to gitignore

197128a

vision works now (yipee)

b072b44

calibrate base deviation to reduce position jitter and use less rotat…

9c93d91

…ion from vision

increased rotation base deviation for less jitter

a10c793

y button rotates to specific angle when held

f98e049

Controller Button Y rotates robot to hub, PID not tuned

3476250

switch to non deprecated methods

f424890

silence joystick warning and activate signal logger

792b105

rebind stuff

88174a2

drivetrain sysid fixes

b31e44b

remove camera 2

6fd6848

fix getAverageDistance

5450f35

change functions to make more sense

7c8a989

vision no workie

fa2d760

camera tuning

df608ff

some commenting

c58ed32

log hub position

b352808

update hub location

224fb89

move update to periodic

36898bb

remove useles comment

581e642

add drive deadband to face at hub

3389ff1

fix formatting

01f8c97

rename t to target

1ce6f38

remove printing

c59f0c4

clean up isToleranceToSmall

882bab7

jovapo reviewed Feb 11, 2026

View reviewed changes

chainlynx-drive-laptops added 10 commits February 10, 2026 17:27

Changed to private

9cde0f0

set sim fps to 60

e76ba52

changed isMinimumDistanceTooSmall to isClosestTagTooFar and changed t…

b187429

…he logic to make sense

changed isMinimumDistanceTooSmall to isClosestTagTooFar and added a TODO

e2cab65

commented out usingTwoTags

b630a3e

commented out khubLoc and renamed to getHubLoaction

cafd0f8

Added TODO in VisionConstants

c4ee97a

made kBaseDeviation final

252c804

Made Vision pick the right hub

65232f0

made kCameraOffsets imutable

c09fec4

jovapo approved these changes Feb 11, 2026

View reviewed changes

me-it-is added 7 commits February 10, 2026 23:05

make isClosedTagTooFar 3d

30a3d9b

stop using 67

1ac7ec9

add todo about two tags

b1b0fd4

make vision filtering methods private

0bbe77c

fix getHubLocation to check if the optional is present

613a234

remove unnecessary comment

f09a57d

store the point at hub swerve drive swerve request

1ddfe7c


		private List<CamAndEstimator> cameras = new ArrayList<>();

		public Consumer<VisionPose> updateDrivetrain;

Vision #2

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Vision #2

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me-it-is commented Feb 8, 2026 •

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jovapo Feb 11, 2026 •

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