From d79c8d5ab2e942b7f2b70dd28c9c0e79e416f651 Mon Sep 17 00:00:00 2001 From: Chris Date: Thu, 5 Sep 2024 23:29:57 -0500 Subject: [PATCH] RLI cleanup --- docs/source/docs/examples/aimandrange.md | 6 ++-- docs/source/docs/examples/aimingatatarget.md | 6 ++-- docs/source/docs/examples/poseest.md | 38 ++++++++++---------- 3 files changed, 25 insertions(+), 25 deletions(-) diff --git a/docs/source/docs/examples/aimandrange.md b/docs/source/docs/examples/aimandrange.md index 9bd94ad87..a3fec9d7f 100644 --- a/docs/source/docs/examples/aimandrange.md +++ b/docs/source/docs/examples/aimandrange.md @@ -17,11 +17,11 @@ To do this, we'll use the *pitch* of the target in the camera image and trigonom .. tab-item:: Java - .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/06f0f7d66f68f43e7e461bce672b07e9d2954cda/photonlib-java-examples/aimandrange/src/main/java/frc/robot/Robot.java + .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/aimandrange/src/main/java/frc/robot/Robot.java :language: java - :lines: 41-98 + :lines: 84-131 :linenos: - :lineno-start: 41 + :lineno-start: 84 .. tab-item:: C++ (Header) diff --git a/docs/source/docs/examples/aimingatatarget.md b/docs/source/docs/examples/aimingatatarget.md index 41297f914..9e43e8d6b 100644 --- a/docs/source/docs/examples/aimingatatarget.md +++ b/docs/source/docs/examples/aimingatatarget.md @@ -21,11 +21,11 @@ In this example, while the operator holds a button down, the robot will turn tow .. tab-item:: Java - .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/06f0f7d66f68f43e7e461bce672b07e9d2954cda/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java + .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java :language: java - :lines: 41-98 + :lines: 79-114 :linenos: - :lineno-start: 41 + :lineno-start: 79 .. tab-item:: C++ (Header) diff --git a/docs/source/docs/examples/poseest.md b/docs/source/docs/examples/poseest.md index 24c5f39b2..d78fb14ab 100644 --- a/docs/source/docs/examples/poseest.md +++ b/docs/source/docs/examples/poseest.md @@ -26,11 +26,11 @@ We use the 2024 game's AprilTag Locations: .. tab-item:: Java :sync: java - .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Constants.java + .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java :language: java - :lines: 83-106 + :lines: 68-68 :linenos: - :lineno-start: 83 + :lineno-start: 68 ``` @@ -43,15 +43,15 @@ To incorporate PhotonVision, we need to create a {code}`PhotonCamera`: .. tab-item:: Java :sync: java - .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Constants.java + .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java :language: java - :lines: 83-106 + :lines: 57-57 :linenos: - :lineno-start: 83 + :lineno-start: 57 ``` -During periodic execution, we read back camera results. If we see AprilTags in the image, we calculate the camera-measured pose of the robot and pass it to the {code}`SwerveDrivePoseEstimator`. +During periodic execution, we read back camera results. If we see AprilTags in the image, we calculate the camera-measured pose of the robot and pass it to the {code}`Drivetrain`. ```{eval-rst} .. tab-set:: @@ -59,11 +59,11 @@ During periodic execution, we read back camera results. If we see AprilTags in t .. tab-item:: Java :sync: java - .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Constants.java + .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java :language: java - :lines: 83-106 + :lines: 64-74 :linenos: - :lineno-start: 83 + :lineno-start: 64 ``` @@ -77,11 +77,11 @@ First, we create a new {code}`VisionSystemSim` to represent our camera and copro .. tab-item:: Java :sync: java - .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Constants.java + .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java :language: java - :lines: 83-106 + :lines: 65-69 :linenos: - :lineno-start: 83 + :lineno-start: 65 ``` @@ -93,11 +93,11 @@ Then, we add configure the simulated vision system to match the camera system be .. tab-item:: Java :sync: java - .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Constants.java + .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/d6c37ead118ae58d224c0c4fd7f7a2b7931940b5/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java :language: java - :lines: 83-106 + :lines: 69-82 :linenos: - :lineno-start: 83 + :lineno-start: 69 ``` @@ -112,11 +112,11 @@ During simulation, we periodically update the simulated vision system. .. tab-item:: Java :sync: java - .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/80e16ece87c735e30755dea271a56a2ce217b588/photonlib-java-examples/poseest/src/main/java/frc/robot/DrivetrainSim.java + .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/80e16ece87c735e30755dea271a56a2ce217b588/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java :language: java - :lines: 138-139 + :lines: 114-132 :linenos: - :lineno-start: 138 + :lineno-start: 114 ```