remove unused code which breaks build

redshiftrobotics · Oct 29, 2024 · 1a30b7a · 1a30b7a
1 parent 5c29f7b
commit 1a30b7a
Showing 1 changed file with 35 additions and 42 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
@@ -1,25 +1,17 @@
 package frc.robot.subsystems;
 
-import java.util.ArrayList;
-
-import org.photonvision.PhotonCamera;
-import org.photonvision.targeting.PhotonPipelineResult;
-import org.photonvision.targeting.PhotonTrackedTarget;
-
-import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /** Vision subsystem */
 public class Vision extends SubsystemBase {
 
-	private final static boolean DEBUG_INFO = false;
+	// private final static boolean DEBUG_INFO = false;
 
 	private boolean visionEnabled = false;
 
-	final PhotonCamera camera;
+	// final PhotonCamera camera;
 	final Transform3d robotToCamera;
 	final Transform3d cameraToRobot;
 
@@ -30,7 +22,7 @@ public class Vision extends SubsystemBase {
 	 * @param robotToCamera distance from the camera to the center of the robot
 	 */
 	public Vision(String cameraName, Transform3d robotToCamera) {
-		camera = new PhotonCamera(cameraName);
+		// camera = new PhotonCamera(cameraName);
 		this.robotToCamera = robotToCamera;
 		cameraToRobot = robotToCamera.inverse();
 
@@ -62,11 +54,12 @@ public void toggleUsing() {
 	 * 
 	 */
 	public Transform3d getTransformToTag() {
-		PhotonTrackedTarget target = camera.getLatestResult().getBestTarget();
-		if (target == null) {
-			return null;
-		}
-		return target.getBestCameraToTarget().plus(cameraToRobot);
+		// PhotonTrackedTarget target = camera.getLatestResult().getBestTarget();
+		// if (target == null) {
+		// 	return null;
+		// }
+		// return target.getBestCameraToTarget().plus(cameraToRobot);
+		return null;
 	}
 
 	/**
@@ -80,12 +73,12 @@ public Transform3d getTransformToTag(int tagID) {
 		if (tagID == -1)
 			return getTransformToTag();
 
-		var results = camera.getLatestResult();
+		// var results = camera.getLatestResult();
 
-		for (PhotonTrackedTarget target : results.getTargets()) {
-			if (target.getFiducialId() == tagID)
-				return target.getBestCameraToTarget().plus(cameraToRobot);
-		}
+		// for (PhotonTrackedTarget target : results.getTargets()) {
+		// 	if (target.getFiducialId() == tagID)
+		// 		return target.getBestCameraToTarget().plus(cameraToRobot);
+		// }
 		return null;
 	}
 
@@ -95,32 +88,32 @@ public void periodic() {
 
 		SmartDashboard.putBoolean("Use Vision", visionEnabled);
 
-		if (visionEnabled && DEBUG_INFO) {
-			PhotonPipelineResult result = camera.getLatestResult();
-			PhotonTrackedTarget bestTag = result.getBestTarget();
+		// if (visionEnabled && DEBUG_INFO) {
+		// 	PhotonPipelineResult result = camera.getLatestResult();
+		// 	PhotonTrackedTarget bestTag = result.getBestTarget();
 
-			if (bestTag == null) {
-				bestTag = new PhotonTrackedTarget(-1, -1, -1, -1, -1,
-						new Transform3d(new Translation3d(-1, -1, -1), new Rotation3d(-1, -1, -1)), null, 0,
-						new ArrayList<>(), new ArrayList<>());
-			}
+		// 	if (bestTag == null) {
+		// 		bestTag = new PhotonTrackedTarget(-1, -1, -1, -1, -1,
+		// 				new Transform3d(new Translation3d(-1, -1, -1), new Rotation3d(-1, -1, -1)), null, 0,
+		// 				new ArrayList<>(), new ArrayList<>());
+		// 	}
 
-			SmartDashboard.putNumber("Tag ID", bestTag.getFiducialId());
-			SmartDashboard.putNumber("Tag Yaw", bestTag.getYaw());
-			SmartDashboard.putNumber("Tag Pitch", bestTag.getPitch());
-			SmartDashboard.putNumber("Tag Skew", bestTag.getSkew());
+		// 	SmartDashboard.putNumber("Tag ID", bestTag.getFiducialId());
+		// 	SmartDashboard.putNumber("Tag Yaw", bestTag.getYaw());
+		// 	SmartDashboard.putNumber("Tag Pitch", bestTag.getPitch());
+		// 	SmartDashboard.putNumber("Tag Skew", bestTag.getSkew());
 
-			Transform3d tagPose = bestTag.getBestCameraToTarget();
+		// 	Transform3d tagPose = bestTag.getBestCameraToTarget();
 
-			SmartDashboard.putNumber("Tag Pose X", tagPose.getX());
-			SmartDashboard.putNumber("Tag Pose Y", tagPose.getY());
-			SmartDashboard.putNumber("Tag Pose Z", tagPose.getZ());
+		// 	SmartDashboard.putNumber("Tag Pose X", tagPose.getX());
+		// 	SmartDashboard.putNumber("Tag Pose Y", tagPose.getY());
+		// 	SmartDashboard.putNumber("Tag Pose Z", tagPose.getZ());
 
-			Rotation3d tagPoseRotation = tagPose.getRotation();
+		// 	Rotation3d tagPoseRotation = tagPose.getRotation();
 
-			SmartDashboard.putNumber("Tag Pose Yaw", tagPoseRotation.getZ());
-			SmartDashboard.putNumber("Tag Pose Pitch", tagPoseRotation.getY());
-			SmartDashboard.putNumber("Tag Pose Roll", tagPoseRotation.getX());
-		}
+		// 	SmartDashboard.putNumber("Tag Pose Yaw", tagPoseRotation.getZ());
+		// 	SmartDashboard.putNumber("Tag Pose Pitch", tagPoseRotation.getY());
+		// 	SmartDashboard.putNumber("Tag Pose Roll", tagPoseRotation.getX());
+		// }
 	}
 }