Package frc.robot.services.vision

Interface VisionIO

All Known Implementing Classes:
VisionIOPhoton, VisionIOSim, VisionIOWhacknet
public interface VisionIO
Interface for the vision service input/output abstraction.

This interface allows for interchangeable vision hardware (e.g., Limelight, PhotonVision) and comprehensive simulation support by standardizing how pose data is retrieved and how robot state is broadcasted back to the vision pipeline.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    VisionIO.VisionIOInputs
    Contains all of the inputs received from the vision hardware.

  • Method Summary

    Modifier and Type
    Method
    Description
    default void
    broadcastTelemetry(IMUState imuState)
    Broadcasts the high frequency 6-DOF IMU state to the vision coprocessor.
    default void
    updateInputs(VisionIO.VisionIOInputs inputs)
    Updates the set of loggable inputs with the latest data from the vision system.

  • Method Details

    • updateInputs

      default void updateInputs(VisionIO.VisionIOInputs inputs)
      Updates the set of loggable inputs with the latest data from the vision system.
      Parameters:
      inputs - The inputs object to update.

    • broadcastTelemetry

      default void broadcastTelemetry(IMUState imuState)
      Broadcasts the high frequency 6-DOF IMU state to the vision coprocessor.
      Parameters:
      imuState - The latest snapshot of the robot's IMU.