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Combining Aiming and Getting in Range

The following example is from the PhotonLib example repository (Java/C++).

Knowledge and Equipment Needed

  • Everything required in {ref}Aiming at a Target <docs/examples/aimingatatarget:Knowledge and Equipment Needed>.

Code

Now that you know how to aim toward the AprilTag, let's also drive the correct distance from the AprilTag.

To do this, we'll use the pitch of the target in the camera image and trigonometry to figure out how far away the robot is from the AprilTag. Then, like before, we'll use the P term of a PID controller to drive the robot to the correct distance.

.. tab-set::

    .. tab-item:: Java

       .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/adb3098fbe0cdbc1a378c6d5a41126dd1d6d6955/photonlib-java-examples/aimandrange/src/main/java/frc/robot/Robot.java
         :language: java
         :lines: 84-131
         :linenos:
         :lineno-start: 84

    .. tab-item:: C++ (Header)

       .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/adb3098fbe0cdbc1a378c6d5a41126dd1d6d6955/photonlib-cpp-examples/aimandrange/src/main/include/Robot.h
         :language: c++
         :lines: 25-63
         :linenos:
         :lineno-start: 25

    .. tab-item:: C++ (Source)

       .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/adb3098fbe0cdbc1a378c6d5a41126dd1d6d6955/photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp
         :language: c++
         :lines: 58-107
         :linenos:
         :lineno-start: 58

    .. tab-item:: Python

       .. rli:: https://raw.githubusercontent.com/gerth2/photonvision/adb3098fbe0cdbc1a378c6d5a41126dd1d6d6955/photonlib-python-examples/aimandrange/robot.py
         :language: python
         :lines: 44-98
         :linenos:
         :lineno-start: 44