turret camera -> master#135
Open
DanielShapir wants to merge 11 commits into
Open
Conversation
itayzukin
reviewed
Apr 3, 2026
Comment on lines
+215
to
+225
| public static Pose2d calculateRobotCenterRelativeToField( | ||
| Supplier<Pose2d> limeLightPoseRelativeToRobotCenter, | ||
| Pose2d limeLightPoseRelativeToField | ||
| ) { | ||
| Transform2d camTransformRelativeToRobotCenter = new Transform2d( | ||
| new Pose2d(0, 0, Rotation2d.fromDegrees(0.0)), | ||
| limeLightPoseRelativeToRobotCenter.get() | ||
| ); | ||
| return (limeLightPoseRelativeToField.transformBy(camTransformRelativeToRobotCenter.inverse())); | ||
| } | ||
|
|
There was a problem hiding this comment.
Is the camera only moving in 2d space?
| Pose2d limeLightPoseRelativeToField | ||
| ) { | ||
| Transform2d camTransformRelativeToRobotCenter = new Transform2d( | ||
| new Pose2d(0, 0, Rotation2d.fromDegrees(0.0)), |
There was a problem hiding this comment.
Suggested change
| new Pose2d(0, 0, Rotation2d.fromDegrees(0.0)), | |
| new Pose2d(0, 0, new Rotation2d()), |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
make limelight get robot position when the camera is on the turret