Merge pull request #10 from ThePinkAlliance/develop

ThePinkAlliance.json

@@ -1,7 +1,7 @@
 {
 	"fileName": "ThePinkAlliance.json",
 	"name": "ThePinkAlliance",
-	"version": "2.0.14",
+	"version": "2.0.15",
 	"uuid": "9619F7EA-7F96-4236-9D94-02338DFED572",
 	"mavenUrls": [
 		"https://jitpack.io",
@@ -13,7 +13,7 @@
 		{
 			"groupId": "com.github.ThePinkAlliance",
 			"artifactId": "core",
-			"version": "2.0.14"
+			"version": "2.0.15"
 		}
 	],
 	"jniDependencies": [],

build.gradle

@@ -2,7 +2,7 @@ apply plugin: 'java-library'
 apply plugin: 'maven-publish'
 
 group = 'com.ThePinkAlliance.core'
-version = '2.0.14'
+version = '2.0.15'
 
 sourceCompatibility = JavaVersion.VERSION_11 // java 11
 targetCompatibility = JavaVersion.VERSION_11

src/main/java/com/ThePinkAlliance/core/joystick/Joystick.java

@@ -27,15 +27,15 @@ public enum Buttons {
     }
   }
 
-  public enum POV_TYPE {
+  public enum PovType {
     NORTH(0),
     EAST(90),
     WEST(270),
     SOUTH(180);
 
     int id = 0;
 
-    POV_TYPE(int id) {
+    PovType(int id) {
       this.id = id;
     }
   }
@@ -69,7 +69,7 @@ public JoystickAxis getAxis(Axis axis) {
     return new JoystickAxis(this, axis);
   }
 
-  public boolean povActivated(POV_TYPE type) {
+  public boolean povActivated(PovType type) {
     int pov = this.joy.getPOV();
 
     if (pov == type.id) {

src/main/java/com/ThePinkAlliance/core/limelight/Limelight.java

@@ -52,7 +52,8 @@ public double get() {
 
   /**
    * @param height_from_floor The limelight lens height from the floor in inches.
-   * @param mounted_angle The current pitch angle of the limelight on its mount.
+   * @param mounted_angle     The current pitch angle of the limelight on its
+   *                          mount.
    */
   public Limelight(double height_from_floor, double mounted_angle) {
     this.HEIGHT_FROM_FLOOR = height_from_floor;
@@ -65,14 +66,15 @@ public Limelight(double height_from_floor, double mounted_angle) {
 
   /**
    * @param height_from_floor The limelight lens height from the floor in inches.
-   * @param mounted_angle The current pitch angle of the limelight on its mount.
-   * @param horizontal_offset The angluar offset of the limelight from the center of the robot.
+   * @param mounted_angle     The current pitch angle of the limelight on its
+   *                          mount.
+   * @param horizontal_offset The angluar offset of the limelight from the center
+   *                          of the robot.
    */
   public Limelight(
-    double height_from_floor,
-    double mounted_angle,
-    double horizontal_offset
-  ) {
+      double height_from_floor,
+      double mounted_angle,
+      double horizontal_offset) {
     this.HEIGHT_FROM_FLOOR = height_from_floor;
     this.MOUNTED_ANGLE = mounted_angle;
     this.REFLECTED_TAPE_HEIGHT = GAME_TARGET_HEIGHTS.RAPID_REACT_TOP_HUB.get();
@@ -81,6 +83,18 @@ public Limelight(
     configureLimelight();
   }
 
+  /**
+   * @param constants Constants for the limelight.
+   */
+  public Limelight(LimelightConstants constants) {
+    this.HEIGHT_FROM_FLOOR = constants.getHeightFromFloor();
+    this.MOUNTED_ANGLE = constants.getMountedAngle();
+    this.REFLECTED_TAPE_HEIGHT = constants.getTargetHeight();
+    this.HORIZONTAL_OFFSET = constants.getHorizontalOffset();
+
+    configureLimelight();
+  }
+
   private void configureLimelight() {
     this.CURRENT_LED_MODE = LED_MODE.OFF;
 
@@ -105,6 +119,20 @@ public void configureTargetHeight(double targetHeight) {
     this.REFLECTED_TAPE_HEIGHT = targetHeight;
   }
 
+  /**
+   * This will reconfigure the limelight with the passed parameters.
+   * 
+   * @param constants LimelightConstants
+   */
+  public void reconfigureLimelight(LimelightConstants constants) {
+    this.HEIGHT_FROM_FLOOR = constants.getHeightFromFloor();
+    this.MOUNTED_ANGLE = constants.getMountedAngle();
+    this.REFLECTED_TAPE_HEIGHT = constants.getTargetHeight();
+    this.HORIZONTAL_OFFSET = constants.getHorizontalOffset();
+
+    configureLimelight();
+  }
+
   /**
    *
    * @param targetHeight The height of the reflective tape in inches.
@@ -135,18 +163,24 @@ public double foundTargets() {
 
   /**
    * Returns the horizontal difference from the center of the detected target.
+   * 
+   * @return The offset in degress, range of (27 <-> -27)
    */
   public double getHorizontalDiff() {
     return this.tx.getDouble(0);
   }
 
+  /**
+   * In order to get accurate target info you need to run the limelight's onboard
+   * cross-hair calibration.
+   * 
+   * @return The estimated distance in inches.
+   */
   public double calculateDistance() {
     double verticalOffset = ty.getDouble(0);
     double targetAngleDeg = MOUNTED_ANGLE + verticalOffset;
 
-    return (
-      (REFLECTED_TAPE_HEIGHT - HEIGHT_FROM_FLOOR) /
-      Math.tan(Math.toRadians(targetAngleDeg))
-    );
+    return ((REFLECTED_TAPE_HEIGHT - HEIGHT_FROM_FLOOR) /
+        Math.tan(Math.toRadians(targetAngleDeg)));
   }
 }

src/main/java/com/ThePinkAlliance/core/limelight/LimelightConstants.java

@@ -1,3 +1,98 @@
 package com.ThePinkAlliance.core.limelight;
 
-public class LimelightConstants {}
+import com.ThePinkAlliance.core.limelight.Limelight.GAME_TARGET_HEIGHTS;
+
+/**
+ * This store's information about the limelight and it's target.
+ */
+public class LimelightConstants {
+  private double HEIGHT_FROM_FLOOR;
+  private double MOUNTED_ANGLE;
+  private double REFLECTED_TAPE_HEIGHT;
+  private double HORIZONTAL_OFFSET;
+
+  /**
+   * @param HEIGHT_FROM_FLOOR     The limelight lens height from the floor in
+   *                              inches.
+   * @param MOUNTED_ANGLE         The current pitch angle of the limelight on its
+   *                              mount.
+   * @param REFLECTED_TAPE_HEIGHT The height of the reflective tape we are
+   *                              tracking.
+   */
+  public LimelightConstants(double HEIGHT_FROM_FLOOR, double MOUNTED_ANGLE, double REFLECTED_TAPE_HEIGHT) {
+    this.HEIGHT_FROM_FLOOR = HEIGHT_FROM_FLOOR;
+    this.MOUNTED_ANGLE = MOUNTED_ANGLE;
+    this.REFLECTED_TAPE_HEIGHT = REFLECTED_TAPE_HEIGHT;
+    this.HORIZONTAL_OFFSET = 0;
+  }
+
+  /**
+   * @param HEIGHT_FROM_FLOOR     The limelight lens height from the floor in
+   *                              inches.
+   * @param MOUNTED_ANGLE         The current pitch angle of the limelight on its
+   *                              mount.
+   * @param REFLECTED_TAPE_HEIGHT The height of the reflective tape we are
+   *                              tracking.
+   * @param HORIZONTAL_OFFSET     The angluar offset of the limelight from the
+   *                              center
+   *                              of the robot.
+   */
+  public LimelightConstants(double HEIGHT_FROM_FLOOR, double MOUNTED_ANGLE, double REFLECTED_TAPE_HEIGHT,
+      double HORIZONTAL_OFFSET) {
+    this.HEIGHT_FROM_FLOOR = HEIGHT_FROM_FLOOR;
+    this.MOUNTED_ANGLE = MOUNTED_ANGLE;
+    this.HORIZONTAL_OFFSET = HORIZONTAL_OFFSET;
+    this.REFLECTED_TAPE_HEIGHT = REFLECTED_TAPE_HEIGHT;
+  }
+
+  /**
+   * @param HEIGHT_FROM_FLOOR The limelight lens height from the floor in
+   *                          inches.
+   * @param MOUNTED_ANGLE     The current pitch angle of the limelight on its
+   *                          mount.
+   * @param TARGET            The reflective tape target we are
+   *                          tracking.
+   */
+  public LimelightConstants(double HEIGHT_FROM_FLOOR, double MOUNTED_ANGLE, GAME_TARGET_HEIGHTS TARGET) {
+    this.HEIGHT_FROM_FLOOR = HEIGHT_FROM_FLOOR;
+    this.MOUNTED_ANGLE = MOUNTED_ANGLE;
+    this.HORIZONTAL_OFFSET = 0;
+    this.REFLECTED_TAPE_HEIGHT = TARGET.get();
+  }
+
+  /**
+   * @param HEIGHT_FROM_FLOOR The limelight lens height from the floor in
+   *                          inches.
+   * @param MOUNTED_ANGLE     The current pitch angle of the limelight on its
+   *                          mount.
+   * @param TARGET            The reflective tape target we are
+   *                          tracking.
+   * @param HORIZONTAL_OFFSET The angluar offset of the
+   *                          limelight from the
+   *                          center
+   *                          of the robot.
+   */
+  public LimelightConstants(double HEIGHT_FROM_FLOOR, double MOUNTED_ANGLE, GAME_TARGET_HEIGHTS TARGET,
+      double HORIZONTAL_OFFSET) {
+    this.HEIGHT_FROM_FLOOR = HEIGHT_FROM_FLOOR;
+    this.MOUNTED_ANGLE = MOUNTED_ANGLE;
+    this.HORIZONTAL_OFFSET = HORIZONTAL_OFFSET;
+    this.REFLECTED_TAPE_HEIGHT = TARGET.get();
+  }
+
+  public double getHeightFromFloor() {
+    return this.HEIGHT_FROM_FLOOR;
+  }
+
+  public double getMountedAngle() {
+    return this.MOUNTED_ANGLE;
+  }
+
+  public double getTargetHeight() {
+    return this.REFLECTED_TAPE_HEIGHT;
+  }
+
+  public double getHorizontalOffset() {
+    return this.HORIZONTAL_OFFSET;
+  }
+}