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Adding staleness for use with rumble pad. #420

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Adding staleness for use with rumble pad. #420

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01cca27
Adding staleness for use with rumble pad.
rokadias Apr 10, 2026
b8e1716
Making into a property.
rokadias Apr 11, 2026
4e431c0
Fixing logic flaw.
rokadias Apr 11, 2026
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2 changes: 1 addition & 1 deletion src/main/java/competition/general_commands/GamepadRumbleCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ public GamepadRumbleCommand(HoodSubsystem hoodSubsystem, OperatorInterface oi, S

@Override
public void execute() {
var lookAtPointFault = drive.getLookAtPointActive() && !vision.areAllCamerasConnected();
var lookAtPointFault = drive.getLookAtPointActive() && !vision.hasRecentPoseObservation();
var shooterReady = DriverStation.isTeleop() && shooter.isReadyToFire() && hood.isMaintainerAtGoal();

if (shooterReady) {
Expand Down
16 changes: 16 additions & 0 deletions src/main/java/competition/subsystems/vision/AprilTagVisionSubsystemExtended.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,10 @@
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.Timer;
import xbot.common.injection.electrical_contract.CameraInfo;
import xbot.common.injection.electrical_contract.XCameraElectricalContract;
import xbot.common.properties.DoubleProperty;
import xbot.common.properties.PropertyFactory;
import xbot.common.subsystems.vision.AprilTagVisionIO;
import xbot.common.subsystems.vision.AprilTagVisionIOFactory;
Expand All @@ -24,6 +26,7 @@ public class AprilTagVisionSubsystemExtended extends AprilTagVisionSubsystem {
HashMap<Pose2d, Integer> aprilTagIDHashMap = new HashMap<>();
private final AprilTagFieldLayout aprilTagFieldLayout;
public final CameraInfo[] cameras;
private final DoubleProperty stalenessThresholdInSeconds;

@Inject
public AprilTagVisionSubsystemExtended(PropertyFactory pf,
Expand All @@ -48,6 +51,8 @@ public AprilTagVisionSubsystemExtended(PropertyFactory pf,
// aprilTagIDHashMap.put(Landmarks.BlueFarAlgae, 21);
// aprilTagIDHashMap.put(Landmarks.BlueFarRightAlgae, 22);

pf.setPrefix("AprilTagVisionSubsystemExtended");
this.stalenessThresholdInSeconds = pf.createPersistentProperty("Staleness Threshold In Seconds", 0.2);
aprilTagFieldLayout = fieldLayout;
}

Expand Down Expand Up @@ -114,4 +119,15 @@ public boolean areAllCamerasConnected() {
}
return true;
}

public boolean hasRecentPoseObservation() {
for (var poseObservation : this.getAllPoseObservations()) {
boolean stale = Timer.getFPGATimestamp() - poseObservation.timestampSeconds() > this.stalenessThresholdInSeconds.get();
if (!stale) {
return true;
}
}

return false;
}
}
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