Package frc.robot.services.vision

Class VisionIOWhacknet

java.lang.Object

frc.robot.services.vision.VisionIOWhacknet

All Implemented Interfaces:

VisionIO

public class VisionIOWhacknet
extends Object
implements VisionIO

Real IO implementation for the vision service using Whacknet.

This implementation communicates with a high-performance native vision pipeline to retrieve AprilTag pose estimations. It maps raw data from a shared direct byte buffer into WPILib geometry objects, utilizing zero-allocation patterns to maintain high performance.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.services.vision.VisionIO

VisionIO.VisionIOInputs

Constructor Summary

Constructors

Constructor	Description
VisionIOWhacknet()	Creates a new VisionIOChalkydri and starts the native vision server.

Method Summary

Modifier and Type	Method	Description
void	broadcastTelemetry(IMUState imuState)	Broadcasts the high frequency 6-DOF IMU state to the vision coprocessor.
void	updateInputs(VisionIO.VisionIOInputs inputs)	Updates inputs by reading the latest packets from the native library and mapping them to loggable Java objects.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

VisionIOWhacknet

public VisionIOWhacknet()

Creates a new VisionIOChalkydri and starts the native vision server.

Method Details

updateInputs

public void updateInputs(VisionIO.VisionIOInputs inputs)

Updates inputs by reading the latest packets from the native library and mapping them to loggable Java objects.

Specified by:

updateInputs in interface VisionIO

Parameters:

inputs - The inputs object to update.

broadcastTelemetry

public void broadcastTelemetry(IMUState imuState)

Description copied from interface: VisionIO

Broadcasts the high frequency 6-DOF IMU state to the vision coprocessor.

Specified by:

broadcastTelemetry in interface VisionIO

Parameters:

imuState - The latest snapshot of the robot's IMU.