Package frc.robot.subsystems.apriltagvision

Class AprilTagVisionSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.shared.subsystems.AbstractSubsystem<AprilTagVisionSubsystemConfig>

frc.robot.subsystems.apriltagvision.AprilTagVisionSubsystem

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class AprilTagVisionSubsystem
extends AbstractSubsystem<AprilTagVisionSubsystemConfig>

Subsystem that processes AprilTag camera observations for robot pose estimation.

Uses AprilTag detection via PhotonVision to provide pose corrections for the robot state estimator. Pose filtering and uncertainty calculation are delegated to AprilTagPoseEstimator.

Field Summary

Fields inherited from class frc.robot.shared.subsystems.AbstractSubsystem

className, config, enabled, kDt, log, verbose

Constructor Summary

Constructors

Constructor	Description
AprilTagVisionSubsystem(AprilTagVisionSubsystemConfig config, VisionMeasurementConsumer consumer, Consumer<edu.wpi.first.math.geometry.Pose2d> odometryResetConsumer, Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier)	Creates a new AprilTagVisionSubsystem.

Method Summary

Modifier and Type	Method	Description
void	periodic()	Pulls the latest frames from each camera, filters pose observations, and forwards accepted measurements to the robot state estimator.

Methods inherited from class frc.robot.shared.subsystems.AbstractSubsystem

getConfig, isFMSAttached, isSimulation, isSubsystemDisabled, isVerbose, isVerboseLoggingEnabled, logDisabled, reportWarning

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

AprilTagVisionSubsystem

public AprilTagVisionSubsystem(AprilTagVisionSubsystemConfig config,
 VisionMeasurementConsumer consumer,
 Consumer<edu.wpi.first.math.geometry.Pose2d> odometryResetConsumer,
 Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier)

Creates a new AprilTagVisionSubsystem.

Call this once during robot setup. The subsystem owns the camera I/O objects and streams accepted measurements to the consumer. The field layout is loaded from the subsystem config so each robot variant can specify its own AprilTag field layout.

Parameters:

config - configuration for vision processing, field layout, and tunable thresholds

consumer - consumer that receives accepted pose measurements with standard deviations

odometryResetConsumer - consumer that hard-resets odometry to a given pose in meters and radians; called once when the first vision measurement is accepted during the initial acceptance window to establish a reliable baseline

poseSupplier - supplier for the current robot pose in meters and radians (used for simulation). Use raw odometry or ground-truth poses, not the fused robot state pose, to avoid feedback loops in sim.

Method Details

periodic

public void periodic()

Pulls the latest frames from each camera, filters pose observations, and forwards accepted measurements to the robot state estimator.