Webcams#9
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# Conflicts: # hardware/src/main/kotlin/dev/nextftc/hardware/servos/NextServo.kt
# Conflicts: # hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextCRServo.kt # hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackCRServo.kt # hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackServo.kt
# Conflicts: # .idea/caches/deviceStreaming.xml # .idea/codeStyles/Project.xml # .idea/codeStyles/codeStyleConfig.xml # .idea/gradle.xml
zachwaffle4
requested changes
Jul 1, 2026
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| /** Returns the straight-line distance (hypotenuse) from the robot to the AprilTag matching [id] (or any visible tag if [id] is null) in the given [unit]. */ | ||
| @JvmOverloads | ||
| fun getDistance(unit: DistanceUnit = DistanceUnit.INCH, id: Int? = null): Double { |
Collaborator
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Use NextFTC units as opposed to SDK units.
zachwaffle4
requested changes
Jul 1, 2026
| val rawXMeters = botpose.getPosition().x | ||
| val rawYMeters = botpose.getPosition().y | ||
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| val inchX = Inches.fromBaseUnits(rawYMeters) |
Collaborator
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Since Limelight returns things in meters, just use rawXMeters.meters, etc.
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| /** Returns the robot's field position from the latest Limelight result in Pedro coordinates, or `null` if no valid pose is available. */ | ||
| fun getPedroPoseFromLimelight(): Pose2d? { |
Collaborator
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I would recommend removing the FromLimelight part of these method names (because they are methods of the Limelight class). Also, I recommend simply calling getPose here and transforming it instead of duplicating most of it's logic.
zachwaffle4
approved these changes
Jul 1, 2026
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Wrapper for Limelight and Husky lens