https://github.com/stuypulse/theia-test
This robot project is to be used for testing the Theia custom camera localization solution.
https://github.com/stuypulse/theia-test
Last synced: 3 months ago
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This robot project is to be used for testing the Theia custom camera localization solution.
- Host: GitHub
- URL: https://github.com/stuypulse/theia-test
- Owner: StuyPulse
- License: mit
- Created: 2023-10-29T02:13:12.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-12-09T13:22:26.000Z (over 1 year ago)
- Last Synced: 2025-01-16T13:59:04.099Z (4 months ago)
- Language: Java
- Homepage:
- Size: 157 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Theia Test
This robot project is to be used for testing the [Theia](https://github.com/anivanchen/aruco) custom camera localization solution.
### Swerve Drive
The SwerveDrive class handles the interactions with the swerve drive hardware. It is responsible for calculating the wheel angles and speeds, and setting the motors to the correct values.
### Odometry
The Odometry class handles the localization of the robot. It uses the wheel angles and speeds to calculate the robot's position and orientation. It also uses a pose estimator to innclude data from the Vision subsystem to correct for drift.
### Vision
The Vision class manages the multiple cameras on the robot along with the data from these cameras.
### CustomCamera
The CustomCamera class handles the interactions with the custom camera hardware via NetworkTables4. It is responsible for posting and receiving data to and from the camera.
### LinearRegression
The LinearRegression class handles the linear regression calculations to determine stddev values for vision pose extimates in the pose estimator.
### Fiducial
The Fiducial class stores the data for a single fiducial.
- ID
- Pose
### VisionData
The VisionData class stores the data representing a frame of vision data from a camera.
- IDs
- Tag Poses relative to camera
- Camera Pose relative to robot
- Robot Pose relative to field
- Latency