Turret Camera #13

levyishai · 2026-01-19T16:05:55Z

TODO: Implement a TimeInterpolatingBuffer inside the turret subsystem

Copilot

Pull request overview

This pull request introduces support for dynamic camera transforms, enabling cameras mounted on moving mechanisms (like turrets) to report their position correctly over time. The core change is the introduction of the DynamicCameraTransform class, which abstracts camera-to-robot transformations and supports both static and time-dependent camera positioning.

Changes:

Added DynamicCameraTransform class to handle both static and time-dependent camera transformations
Refactored all AprilTag camera IO classes to accept DynamicCameraTransform instead of Transform3d
Updated simulation camera to dynamically adjust camera position on each update cycle

Reviewed changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
DynamicCameraTransform.java	New class providing abstraction for static and dynamic camera transforms with time-based lookups
AprilTagPhotonCameraIO.java	Updated to use DynamicCameraTransform and retrieve time-based transforms for pose calculations
AprilTagSimulationCameraIO.java	Added updateInputs override to continuously update simulated camera position
AprilTagLimelightIO.java	Constructor signature updated to accept DynamicCameraTransform (not yet used due to incomplete implementation)
AprilTagCameraIO.java	Factory method updated to accept and pass DynamicCameraTransform
AprilTagCameraConstants.java	Updated enum to use DynamicCameraTransform in BiFunction signature
AprilTagCamera.java	Added constructor overload for DynamicCameraTransform and refactored to use time-based transforms

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src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/DynamicCameraTransform.java

coderabbitai · 2026-01-19T16:16:04Z

Walkthrough

Introduces DynamicCameraTransform to provide time-varying camera-to-robot transforms and replaces static Transform3d usage across AprilTag camera IO and pose-estimation code. AprilTagCamera, AprilTagCameraIO, AprilTagCameraConstants, and IO implementations now accept DynamicCameraTransform; pose conversions and related flows propagate result timestamps. Adds TurretCameraTransformCalculator (with sampling/forecasting) and integrates turret angle/velocity updates in Turret. CameraConstants adds RIGHT_TURRET_CAMERA and LEFT_TURRET_CAMERA using dynamic transforms, and RobotContainer now supplies those turret cameras to the robot pose estimator.

🚥 Pre-merge checks | ✅ 2 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 24.44% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Title check	✅ Passed	The title 'Turret Camera' directly describes the primary feature being implemented across the changeset.
Description check	✅ Passed	The description mentions implementing a TimeInterpolatingBuffer in the turret subsystem, which aligns with the TurretCameraTransformCalculator changes that use a TimeInterpolatableBuffer.

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coderabbitai

Actionable comments posted: 1

Caution

Some comments are outside the diff and can’t be posted inline due to platform limitations.

⚠️ Outside diff range comments (2)

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java (2)
16-35: Add a fail‑fast null guard for dynamicCameraTransform.

This avoids deferred NPEs during pose estimation and makes misconfiguration obvious at construction time.
Proposed fix
 import java.util.Arrays;
 import java.util.List;
+import java.util.Objects;
 import java.util.Optional;
 ...
     public AprilTagPhotonCameraIO(String cameraName, DynamicCameraTransform dynamicCameraTransform) {
         photonCamera = new PhotonCamera(cameraName);
-        this.dynamicCameraTransform = dynamicCameraTransform;
+        this.dynamicCameraTransform = Objects.requireNonNull(dynamicCameraTransform, "dynamicCameraTransform");
     }
142-167: Add null guard for samplePoseAtTimestamp() result.

samplePoseAtTimestamp() returns null when the pose is outside the buffer window (early in match). Calling .getRotation() on null will crash. Similar code elsewhere guards against this (see ObjectDetectionCamera.java:89). Check the timestamp and fallback if the pose is unavailable, or handle the case where constrained solve-pnp cannot proceed.

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/DynamicCameraTransform.java

itsWihy · 2026-01-20T08:12:23Z

So we doing SOTM this season?

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/DynamicCameraTransform.java

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java

levyishai · 2026-01-20T15:28:53Z

So we doing SOTM this season?

I have no idea what Shirt On The Mop means.

coderabbitai

Actionable comments posted: 4

src/main/java/frc/trigon/robot/constants/CameraConstants.java

src/main/java/frc/trigon/robot/misc/TurretCameraCalculations.java

levyishai · 2026-01-27T22:47:54Z

Needs testing

coderabbitai

Actionable comments posted: 5

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java

src/main/java/frc/trigon/robot/subsystems/turret/TurretCameraTransformCalculator.java

src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java

coderabbitai

Actionable comments posted: 1

src/main/java/frc/trigon/robot/subsystems/turret/TurretCameraTransformCalculator.java

coderabbitai

Actionable comments posted: 1

coderabbitai · 2026-01-29T23:29:29Z

src/main/java/frc/trigon/robot/subsystems/turret/TurretCameraTransformCalculator.java

+    private Rotation2d calculateTurretAngleAtTime(double timestampSeconds) {
+        if (isTimestampTooNew(timestampSeconds))
+            return estimateFutureTurretAngle(timestampSeconds);
+
+        return sampleTurretAngleAtTime(timestampSeconds);
+    }
+
+    private boolean isTimestampTooNew(double timestampSeconds) {
+        final Map.Entry<Double, Rotation2d> latestBufferEntry = getLatestBufferEntry();
+        if (latestBufferEntry == null)
+            return false;
+        final Double latestTimestamp = latestBufferEntry.getKey();
+        return timestampSeconds > latestTimestamp;
+    }
+
+    private Rotation2d estimateFutureTurretAngle(double futureTimestampSeconds) {
+        final Map.Entry<Double, Rotation2d> latestBufferEntry = getLatestBufferEntry();
+        if (latestBufferEntry == null)
+            return RobotContainer.TURRET.getCurrentSelfRelativeAngle();
+        final Double latestTimestamp = latestBufferEntry.getKey();
+        final Rotation2d latestAngle = latestBufferEntry.getValue();
+
+        final double timeDeltaSeconds = futureTimestampSeconds - latestTimestamp;
+        final double predictedRotations = latestVelocityRotationsPerSecond * timeDeltaSeconds;
+        return latestAngle.plus(Rotation2d.fromRotations(predictedRotations));


⚠️ Potential issue | 🔴 Critical

🧩 Analysis chain

🏁 Script executed:

#!/bin/bash # First, locate and examine the file in question fd "TurretCameraTransformCalculator.java"

Repository: Programming-TRIGON/RobotCode2026

Length of output: 161

🏁 Script executed:

# Search for downstream callers of the transform methods rg -n "calculateRobotTo.*CameraAtTime|calculateRobotToCameraAtTime" --type java

Repository: Programming-TRIGON/RobotCode2026

Length of output: 1410

🏁 Script executed:

# Look for uses of DynamicCameraTransform and how null is handled rg -n "DynamicCameraTransform" --type java -A 3 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 13370

🏁 Script executed:

# Search for sampleTurretAngleAtTime to see if it can return null rg -n "sampleTurretAngleAtTime" --type java -A 5 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 1872

🏁 Script executed:

# Look at the buffer management and getLatestBufferEntry rg -n "getLatestBufferEntry" --type java -A 3 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 2190

🏁 Script executed:

cat -n src/main/java/frc/trigon/robot/subsystems/turret/TurretCameraTransformCalculator.java

Repository: Programming-TRIGON/RobotCode2026

Length of output: 4940

🏁 Script executed:

# Check how downstream AprilTagCamera uses the transform rg -n "getTransform\|robotCenterToCameraFunction" src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/ --type java -A 3 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 58

🏁 Script executed:

# Search for where robotCenterToCameraFunction is invoked rg -n "robotCenterToCameraFunction\.apply\|robotCenterToCameraFunction\.get\|robotCenterToCameraFunction\(" src/main/java/frc/trigon/robot/poseestimation/ --type java -A 2 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 58

🏁 Script executed:

# Look for where AprilTagCamera's getTransform method is used rg -n "getTransform\(\|\.dynamicCameraTransform" src/main/java/frc/trigon/robot/ --type java -A 2 -B 1 | head -80

Repository: Programming-TRIGON/RobotCode2026

Length of output: 58

🏁 Script executed:

# Find where the transform functions are called rg -n "calculateRobotTo.*CameraAtTime\(" src/main/java/frc/trigon/robot/ --type java -A 5 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 2144

🏁 Script executed:

# Search in AprilTagCamera for getTransform or transform retrieval cat -n src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCamera.java | head -100

Repository: Programming-TRIGON/RobotCode2026

Length of output: 5652

🏁 Script executed:

# Look for AprilTagCamera.update or process methods rg -n "update\|process" src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCamera.java --type java -A 10

Repository: Programming-TRIGON/RobotCode2026

Length of output: 58

🏁 Script executed:

# Get more of AprilTagCamera file to see calculateRobotPose cat -n src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCamera.java | tail -100

Repository: Programming-TRIGON/RobotCode2026

Length of output: 5868

🏁 Script executed:

# Search for calculateRobotPose to see full implementation rg -n "calculateRobotPose" src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/AprilTagCamera.java --type java -A 20

Repository: Programming-TRIGON/RobotCode2026

Length of output: 1866

🏁 Script executed:

# Check DynamicCameraTransform.calculate2dRobotPose implementation rg -n "calculate2dRobotPose" src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/DynamicCameraTransform.java --type java -A 10 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 608

🏁 Script executed:

# Check get2dCameraToRobotCenter implementation rg -n "get2dCameraToRobotCenter" src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/DynamicCameraTransform.java --type java -A 10 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 1090

🏁 Script executed:

# Check get3dCameraToRobotCenter implementation rg -n "get3dCameraToRobotCenter" src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/DynamicCameraTransform.java --type java -A 10 -B 1

Repository: Programming-TRIGON/RobotCode2026

Length of output: 1653

Handle empty buffer at startup to avoid null Transform3d propagating downstream.

With an empty buffer, isTimestampTooNew() returns false, so calculateTurretAngleAtTime() calls sampleTurretAngleAtTime(), which returns null. This null propagates through calculateRobotToCameraAtTime() to DynamicCameraTransform, where inverse() is called on a null Transform3d—causing an NPE when AprilTagCamera attempts pose estimation at startup. The fallback at line 74 is unreachable.

Treat an empty buffer as "too new" (return true from isTimestampTooNew()) so the fallback uses RobotContainer.TURRET.getCurrentSelfRelativeAngle(), or handle null Transform3d explicitly in the downstream chain.

levyishai added 2 commits January 19, 2026 18:04

Implemented DynamicCameraTransform, need to change and add Jdocs

d4aec9b

Added JDocs

b7b3ba7

Copilot AI review requested due to automatic review settings January 19, 2026 16:05

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levyishai added 2 commits January 19, 2026 18:20

Correct transform logic

7a719f1

Merge branch 'main' into turret-camera

b86a05a

Strflightmight09 assigned levyishai and Strflightmight09 Jan 20, 2026

Strflightmight09 linked an issue Jan 20, 2026 that may be closed by this pull request

Turret Camera #21

Open

Strflightmight09 removed their assignment Jan 20, 2026

Strflightmight09 requested changes Jan 20, 2026

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src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/DynamicCameraTransform.java Show resolved Hide resolved

src/main/java/frc/trigon/robot/poseestimation/apriltagcamera/io/AprilTagPhotonCameraIO.java Outdated Show resolved Hide resolved

ShmayaR added 3 commits January 26, 2026 19:41

Merge branch 'main' into turret-camera

c41abfb

Update lib

2d65347

added calculation for turret camera pose

7731075

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levyishai added 3 commits January 27, 2026 23:34

No need to update lib, thread the signal

7c5afae

Merge branch 'main' into turret-camera

0e0fb69

Implement cleanly

12e6170

coderabbitai bot reviewed Jan 27, 2026

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Null checks and correction

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added if

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coderabbitai bot reviewed Jan 29, 2026

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Turret Camera #13

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Turret Camera #13

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levyishai commented Jan 19, 2026

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