Limelight Alignment

[robotdirtbag]

Complete by 1/19/2025

• (Liam place instructions here)
• Center to middle of tag
• Actions based off of tag ID

[robotdirtbag]

Heads up @FumperForrest @DoomThePro - I set up the feature/6-limelight-update branch and a draft PR #7. Just a couple cosmetic commits there atm. Not sure if we're going to need it but I updated our use of LimelightHelpers to the latest LimelightHelpers v1.10

[robotdirtbag]

Maybe some helpful docs

• FRC Programming Quick Start
• From Pixels to Angles

[jforchheimer25]

We need to discuss as a group the thought process we are going to use for limelight. Once we get the 2023/24 robots working and plug the limelight in and read values, we can figure out what math will be needed to do in order to get where we want. Last year when we tried to do going to a specific position/transform the limelight camera gave us issues (as I already told you), so taking another good look with everyone in the room so we can have multiple perspectives on where to go is probably my first idea when it comes to this. Limelight has some 3d Docs (which im guessing you are already aware of) but regardless ill add links to them.

• 3d Coordinate System
• April tag software

Also, It looks like in order to estimate distrance they dont even use the 3d Pose stuff, instead opting to do this

• 2d Distance estimation?

[jforchheimer25]

********** Robot program starting **********
NT: Listening on NT3 port 1735, NT4 port 5810
NT: Got a NT4 connection from 172.22.11.1 port 50000
NT: CONNECTED NT4 client 'shuffleboard@1' (from 172.22.11.1:50000)
NT: Got a NT3 connection from 10.25.34.69 port 41838
NT: CONNECTED NT3 client '-NT3@10.25.34.69:41838' (from 10.25.34.69:41838)
CANSparkMax object created for CAN ID 14, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 14, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.Robot.<init>(Robot.java:37)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:370)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:24)
********** Robot program startup complete **********
[CAN SPARK] IDs: 14, timed out while waiting for Getting Product ID parameter failed. Unable to account for device-specific behavior differences.
[CAN SPARK] IDs: 14, Unable to retrieve SPARK firmware version. Please verify the deviceID field matches the configured CAN ID of the controller, and that the controller is connected to the CAN Bus.
********** Robot program starting **********
NT: Listening on NT3 port 1735, NT4 port 5810
NT: Got a NT4 connection from 172.22.11.1 port 50227
NT: CONNECTED NT4 client 'shuffleboard@1' (from 172.22.11.1:50227)
NT: Got a NT3 connection from 10.25.34.69 port 57758
NT: CONNECTED NT3 client '-NT3@10.25.34.69:57758' (from 10.25.34.69:57758)
Instantiating NavX on roboRIO MXP Port.
NavX: Library for FRC
[CAN SPARK] IDs: 6, Unable to retrieve SPARK firmware version. Please verify the deviceID field matches the configured CAN ID of the controller, and that the controller is connected to the CAN Bus.
CANSparkMax object created for CAN ID 6, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 6, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.subsystems.SwerveModule.<init>(SwerveModule.java:78)
at frc.robot.subsystems.DriveTrain.<init>(DriveTrain.java:125)
at frc.robot.RobotContainer.<init>(RobotContainer.java:26)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
CANSparkMax object created for CAN ID 5, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 5, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.subsystems.SwerveModule.<init>(SwerveModule.java:84)
at frc.robot.subsystems.DriveTrain.<init>(DriveTrain.java:125)
at frc.robot.RobotContainer.<init>(RobotContainer.java:26)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
CANSparkMax object created for CAN ID 3, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 3, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.subsystems.SwerveModule.<init>(SwerveModule.java:78)
at frc.robot.subsystems.DriveTrain.<init>(DriveTrain.java:131)
at frc.robot.RobotContainer.<init>(RobotContainer.java:26)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
[CAN SPARK] IDs: 3, 4, 5, 6, timed out while waiting for Getting Product ID parameter failed. Unable to account for device-specific behavior differences.
[CAN SPARK] IDs: 3, 4, 5, Unable to retrieve SPARK firmware version. Please verify the deviceID field matches the configured CAN ID of the controller, and that the controller is connected to the CAN Bus.
CANSparkMax object created for CAN ID 4, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 4, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.subsystems.SwerveModule.<init>(SwerveModule.java:84)
at frc.robot.subsystems.DriveTrain.<init>(DriveTrain.java:131)
at frc.robot.RobotContainer.<init>(RobotContainer.java:26)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
CANSparkMax object created for CAN ID 2, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 2, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.subsystems.SwerveModule.<init>(SwerveModule.java:78)
at frc.robot.subsystems.DriveTrain.<init>(DriveTrain.java:137)
at frc.robot.RobotContainer.<init>(RobotContainer.java:26)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
CANSparkMax object created for CAN ID 1, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 1, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.subsystems.SwerveModule.<init>(SwerveModule.java:84)
at frc.robot.subsystems.DriveTrain.<init>(DriveTrain.java:137)
at frc.robot.RobotContainer.<init>(RobotContainer.java:26)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
CANSparkMax object created for CAN ID 7, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 7, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.subsystems.SwerveModule.<init>(SwerveModule.java:78)
at frc.robot.subsystems.DriveTrain.<init>(DriveTrain.java:143)
at frc.robot.RobotContainer.<init>(RobotContainer.java:26)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
[CAN SPARK] IDs: 1, 2, 3, 4, 7, 8, timed out while waiting for Getting Product ID parameter failed. Unable to account for device-specific behavior differences.
[CAN SPARK] IDs: 1, 2, 7, 8, Unable to retrieve SPARK firmware version. Please verify the deviceID field matches the configured CAN ID of the controller, and that the controller is connected to the CAN Bus.
CANSparkMax object created for CAN ID 8, which is not a SPARK MAX. Some functionalities may not work.
Warning at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77): CANSparkMax object created for CAN ID 8, which is not a SPARK MAX. Some functionalities may not work.
at com.revrobotics.spark.SparkMax.<init>(SparkMax.java:77)
at frc.robot.subsystems.SwerveModule.<init>(SwerveModule.java:84)
at frc.robot.subsystems.DriveTrain.<init>(DriveTrain.java:143)
at frc.robot.RobotContainer.<init>(RobotContainer.java:26)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
Joystick Button 1 on port 0 not available, check if controller is plugged in
Warning at edu.wpi.first.wpilibj.DriverStation.reportJoystickUnpluggedWarning(DriverStation.java:1346): Joystick Button 1 on port 0 not available, check if controller is plugged in
Unhandled exception: java.lang.RuntimeException: AutoBuilder was not configured before attempting to build an auto chooser
Error at com.pathplanner.lib.auto.AutoBuilder.buildAutoChooserWithOptionsModifier(AutoBuilder.java:421): Unhandled exception: java.lang.RuntimeException: AutoBuilder was not configured before attempting to build an auto chooser
at com.pathplanner.lib.auto.AutoBuilder.buildAutoChooserWithOptionsModifier(AutoBuilder.java:421)
at com.pathplanner.lib.auto.AutoBuilder.buildAutoChooser(AutoBuilder.java:391)
at com.pathplanner.lib.auto.AutoBuilder.buildAutoChooser(AutoBuilder.java:379)
at frc.robot.RobotContainer.<init>(RobotContainer.java:63)
at frc.robot.Robot.robotInit(Robot.java:33)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:510)
at frc.robot.Main.main(Main.java:23)
The robot program quit unexpectedly. This is usually due to a code error.
The above stacktrace can help determine where the error occurred.
See https://wpilib.org/stacktrace for more information.
Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:433): The robot program quit unexpectedly. This is usually due to a code error.
The above stacktrace can help determine where the error occurred.
See https://wpilib.org/stacktrace for more information.
The startCompetition() method (or methods called by it) should have handled the exception above.
Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:440): The startCompetition() method (or methods called by it) should have handled the exception above.

[DoomThePro]

Above stacktrace: Resolved by updating can firmwares