chore(refactor): the code seems not to build with util named how it i…

…s, let's fix that
Bearbots6964 · Oct 25, 2024 · 532537d · 532537d
1 parent 76cea3c
commit 532537d
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Showing 7 changed files with 21 additions and 16 deletions.
diff --git a/src/main/java/frc/robot/Robot.kt b/src/main/java/frc/robot/Robot.kt
@@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj.PowerDistribution
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.CommandScheduler
-import frc.robot.util.LocalADStarAK
+import frc.robot.Util.LocalADStarAK
 import org.littletonrobotics.junction.LogFileUtil
 import org.littletonrobotics.junction.LoggedRobot
 import org.littletonrobotics.junction.Logger

diff --git a/...main/java/frc/robot/util/LocalADStarAK.kt → ...main/java/frc/robot/Util/LocalADStarAK.kt b/...main/java/frc/robot/util/LocalADStarAK.kt → ...main/java/frc/robot/Util/LocalADStarAK.kt
@@ -1,4 +1,4 @@
-package frc.robot.util
+package frc.robot.Util
 
 import com.pathplanner.lib.path.GoalEndState
 import com.pathplanner.lib.path.PathConstraints

diff --git a/...va/frc/robot/util/ModifiedSignalLogger.kt → ...va/frc/robot/Util/ModifiedSignalLogger.kt b/...va/frc/robot/util/ModifiedSignalLogger.kt → ...va/frc/robot/Util/ModifiedSignalLogger.kt
@@ -1,4 +1,4 @@
-package frc.robot.util
+package frc.robot.Util
 
 import com.ctre.phoenix6.SignalLogger
 import com.ctre.phoenix6.hardware.ParentDevice

diff --git a/.../java/frc/robot/util/RectanglePoseArea.kt → .../java/frc/robot/Util/RectanglePoseArea.kt b/.../java/frc/robot/util/RectanglePoseArea.kt → .../java/frc/robot/Util/RectanglePoseArea.kt
@@ -1,4 +1,4 @@
-package frc.robot.util
+package frc.robot.Util
 
 import edu.wpi.first.math.geometry.Pose2d
 import edu.wpi.first.math.geometry.Translation2d

diff --git a/...va/frc/robot/util/SwerveVoltageRequest.kt → ...va/frc/robot/Util/SwerveVoltageRequest.kt b/...va/frc/robot/util/SwerveVoltageRequest.kt → ...va/frc/robot/Util/SwerveVoltageRequest.kt
@@ -1,4 +1,4 @@
-package frc.robot.util
+package frc.robot.Util
 
 import com.ctre.phoenix6.StatusCode
 import com.ctre.phoenix6.controls.MotionMagicVoltage

diff --git a/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.kt b/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.kt
@@ -32,8 +32,8 @@ import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.Subsystem
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine
 import frc.robot.generated.TunerConstants
-import frc.robot.util.ModifiedSignalLogger
-import frc.robot.util.SwerveVoltageRequest
+import frc.robot.Util.ModifiedSignalLogger
+import frc.robot.Util.SwerveVoltageRequest
 import org.littletonrobotics.junction.AutoLogOutput
 import java.util.*
 import java.util.function.Supplier

diff --git a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.kt b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.kt
@@ -3,10 +3,11 @@ package frc.robot.subsystems.vision
 import edu.wpi.first.apriltag.AprilTagFields
 import edu.wpi.first.math.geometry.*
 import edu.wpi.first.wpilibj.DriverStation.Alliance
+import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
 import edu.wpi.first.wpilibj2.command.SubsystemBase
 import frc.robot.subsystems.drive.CommandSwerveDrivetrain
-import frc.robot.util.RectanglePoseArea
+import frc.robot.Util.RectanglePoseArea
 import org.photonvision.EstimatedRobotPose
 import org.photonvision.PhotonCamera
 import org.photonvision.PhotonPoseEstimator
@@ -27,6 +28,7 @@ class VisionSubsystem(var drivetrain: CommandSwerveDrivetrain) : SubsystemBase()
     private var aprilTagFieldLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField()
     private var rightPhotonPoseEstimator = PhotonPoseEstimator(aprilTagFieldLayout, PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, rightCam, botToRightCamera)
     private var leftPhotonPoseEstimator = PhotonPoseEstimator(aprilTagFieldLayout, PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, leftCam, botToLeftCamera)
+    private val isSim = RobotBase.isSimulation()
 
     /** Creates a new Limelight.  */
     init {
@@ -50,18 +52,21 @@ class VisionSubsystem(var drivetrain: CommandSwerveDrivetrain) : SubsystemBase()
     }
 
     override fun periodic() {
-        val right = updateRight()
-        val left = updateLeft()
-        if (right != null) {
-            drivetrain.addVisionMeasurement(right.estimatedPose.toPose2d(), right.timestampSeconds)
-        }
-        if (left != null) {
-            drivetrain.addVisionMeasurement(left.estimatedPose.toPose2d(), left.timestampSeconds)
+        if(!isSim) {
+            val right = updateRight()
+            val left = updateLeft()
+            if (right != null) {
+                drivetrain.addVisionMeasurement(right.estimatedPose.toPose2d(), right.timestampSeconds)
+            }
+            if (left != null) {
+                drivetrain.addVisionMeasurement(left.estimatedPose.toPose2d(), left.timestampSeconds)
+            }
         }
     }
 
     fun getNoteCamAngle(): Double {
-        return noteCam.getLatestResult().getBestTarget().yaw
+        if (!isSim) return noteCam.getLatestResult().getBestTarget().yaw
+        else return 0.0
     }
 
     companion object {