Limelight pipeline and code help

[AdreNa1ine]

Limelight pipeline and code help

help

Hi all,

I am the single programmer for my team and with our first competition on week 1 I was wondering if anyone could provide some assistance with the limelight code and pipeline.

First off, the pipeline seems to be really iffy… It begins to track a static elevator, climber bar, and most commonly the ceiling lights. I do not know how to tune the pipeline to not do this beyond include/exclude/eyedropper. This only seems to be a problem when tracking past the trench.

If anyone could DM me a pre-tuned pipeline that I could tweak that would be great.

Now regarding the code… What I have works 60% of the time. It seems the tracking angle is off more than I want it to be and only works in the “right” correction direction. The goToDistance method is entirely broken.

This is my limelight.java code

	public static void dumbLineup(double distance) {
		Limelight.testFeed();
		double x = Math.abs(Limelight.getX()) - 5; 
		double power = x * 0.03;
		if (Limelight.getX() >= 5d || Limelight.getX() <= -5d) {
			if (Limelight.getX() > 5) {
				// System.out.println("Should Be Moving Right");
				DriveTrain.arcadeDrive(-power, 0);
				if (Limelight.getX() < 5) {
					goToDistance(distance); // go to distance
				}
			}
		} else if (Limelight.getX() < -5) {
			DriveTrain.arcadeDrive(power, 0);
			if (Limelight.getX() > -5) {
				goToDistance(distance); // go to distance
			}
		}
	}

	public static void goToDistance(double setDistanceInInches) {
		double distance = Utils.distanceCalulator(Limelight.getY());
		System.out.println(distance);

		if (distance <= setDistanceInInches - 10) { // 10 acts as a range
			DriveTrain.drive(-0.3, -0.3); // should go back if distance is short
		} else if (distance >= setDistanceInInches + 10) { // 10 acts as a range
			DriveTrain.drive(0.3, 0.3); // should drive forward
		} else {
			DriveTrain.drive(0, 0);
		}
	}

This is my distance calculator…

	public static double distanceCalulator(double ty) {
		return ((Constants.POWERPORT_HEIGHT - Constants.CAMERA_HEIGHT) / (Math.tan(degToRad(Constants.CAMERA_ANGLE) + degToRad(ty))));
	}

This is my teleop.java code where its executed

if (driver.getLeftBumper()) { // If the left bumper is pressed
            Limelight.changePipeline(1); // changes Limelight vision pipeline to 1

            if (Limelight.hasValidTargets()) { // If limelight sees a target
                if (driver.getLeftBumper()) {
                    driver.setLeftRumble(0.8); 
                    driver.setRightRumble(0.8); 

                    //If Limelight X cross hair is set X distance away
                    if (Limelight.getX() <= 6d && Limelight.getX() >= -6d) {
                        DriveTrain.arcadeDrive(0, 0.2);
                    } else {
                        Limelight.dumbLineup(120); //Limelight lineup
                    }
                } else {
                    if (DriveTrain.ispidEnabled()) { 
                        DriveTrain.pidDisable(); // Turn off pid
                    }
                    DriveTrain.curvatureDrive(linearSpeed, curveSpeed, driver.getRightBumper()); // Drive Curvature
                }

Any help would be appreciated! Thanks.