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gpt的超级状态机

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OnDYCLaptop
2026-07-04 15:02:09 +08:00
parent 132b231c36
commit 3c5d17b527
19 changed files with 1335 additions and 1317 deletions
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src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+123 -226
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@@ -1,4 +1,5 @@
package frc.robot.subsystems;
import java.util.Optional;
import java.util.function.Supplier;
@@ -15,58 +16,56 @@ import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StructPublisher;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import frc.robot.Constants;
import frc.robot.Constants.DriveMode;
import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain;
import frc.robot.subsystems.LimelightHelpers.RawFiducial;
import frc.robot.Constants;
import edu.wpi.first.networktables.*;
/**
* Class that extends the Phoenix 6 SwerveDrivetrain class and implements
* Subsystem so it can easily be used in command-based projects.
* Phoenix 6 Tuner X 生成底盘的命令式封装。
*
* Generated by the 2026 Tuner X Swerve Project Generator
* https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
* 底层 swerve、模块控制和里程计保持原结构；本类只在外层补充
* Command-Based、PathPlanner、Limelight 融合和上层状态读取接口。
*/
public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
/* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
/* 蓝方视角下，正前方为 0 度。 */
private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
/* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
/* 红方视角下，正前方为 180 度。 */
private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg;
/* Keep track if we've ever applied the operator perspective before or not */
/* 记录是否已经应用过操作员视角。 */
private boolean m_hasAppliedOperatorPerspective = false;
private boolean isAlignedToAprilTag = false;
// 上层状态机射击门控使用的目标朝向；正常底盘控制仍由手动驾驶掌控。
private Rotation2d targetHeading = Rotation2d.kZero;
private DriveMode m_driveMode = DriveMode.OTHER;
private NetworkTable positioningNetworkTable;
private NetworkTable ll_shooter_NT;
private NetworkTable ll_intaker_NT;
private NetworkTable driveNetworkTable;
private final StructPublisher<Pose2d> posePub =
NetworkTableInstance.getDefault()
.getStructTopic("/Odometry/RobotPose", Pose2d.struct)
.publish();
NetworkTableInstance.getDefault()
.getStructTopic("/Odometry/RobotPose", Pose2d.struct)
.publish();
private Field2d m_field;
private Field2d shooter_ll_field;
private Field2d intaker_ll_field;
public CommandSwerveDrivetrain(
SwerveDrivetrainConstants drivetrainConstants,
SwerveModuleConstants<?, ?, ?>... modules
@@ -86,12 +85,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
ll_intaker_NT = NetworkTableInstance.getDefault().getTable("Positioning/limelight-intaker");
configueAutoBuilder();
}
private void configueAutoBuilder(){
private void configueAutoBuilder() {
RobotConfig config;
try {
config = RobotConfig.fromGUISettings();
@@ -100,20 +96,20 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}
AutoBuilder.configure(
this::getPose, // 当前机器人 Pose
this::resetPose, // 重置里程计
this::getRobotRelativeSpeeds, // ROBOT RELATIVE speeds
(speeds, feedforwards) -> driveRobotRelative(speeds), // 用 speeds 驱动机器人
this::getPose, // 当前机器人位姿。
this::resetPose, // 重置里程计。
this::getRobotRelativeSpeeds, // 机器人坐标系速度。
(speeds, feedforwards) -> driveRobotRelative(speeds), // 按目标速度驱动机器人。
new PPHolonomicDriveController(
new PIDConstants(5.0, 0.0, 0.0), // X/Y PID
new PIDConstants(5.0, 0.0, 0.0) // Theta PID
new PIDConstants(5.0, 0.0, 0.0), // X/Y 位置 PID。
new PIDConstants(5.0, 0.0, 0.0) // 朝向 PID。
),
config,
() -> false,
this
);
}
public Pose2d getPose() {
return getState().Pose;
}
@@ -122,32 +118,70 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
return getState().Speeds;
}
public ChassisSpeeds getChassisSpeeds() {
// 给上层代码使用的速度别名；原机器人坐标系方法继续留给 PathPlanner。
return getRobotRelativeSpeeds();
}
public ChassisSpeeds getFieldRelativeSpeeds() {
return ChassisSpeeds.fromRobotRelativeSpeeds(getRobotRelativeSpeeds(), getRotation());
}
public Rotation2d getRotation() {
return getState().Pose.getRotation();
}
public void setTargetHeading(Rotation2d targetHeading) {
this.targetHeading = targetHeading;
}
public double getHeadingError() {
return targetHeading.minus(getRotation()).getDegrees();
}
public boolean isAimed() {
// 上层状态机只读取这个门控，不直接控制 swerve 模块。
return Math.abs(getHeadingError()) <= Constants.Superstructure.aimToleranceDegrees;
}
public void driveRobotRelative(ChassisSpeeds speeds) {
ChassisSpeeds scaled = new ChassisSpeeds(
speeds.vxMetersPerSecond, // X 不变
speeds.vyMetersPerSecond, // Y 不变
speeds.omegaRadiansPerSecond * 1.3 // 只放大旋转
speeds.vxMetersPerSecond, // X 方向速度保持原值。
speeds.vyMetersPerSecond, // Y 方向速度保持原值。
speeds.omegaRadiansPerSecond * 1.3 // 只放大旋转输出，沿用原驾驶手感。
);
setControl(
new SwerveRequest.ApplyRobotSpeeds().withSpeeds(scaled)
);
);
}
public void stop() {
setControl(
new SwerveRequest.ApplyRobotSpeeds().withSpeeds(new ChassisSpeeds(0, 0, 0))
);
);
}
public void lockWheels() {
setControl(new SwerveRequest.SwerveDriveBrake());
}
public void aimToTarget() {
// 给未来命令预留的高层辅助接口，仍走现有底盘请求路径，不触碰模块底层逻辑。
double headingErrorDegrees = getHeadingError();
double omega = Math.toRadians(headingErrorDegrees) * Constants.AutoPositioning.TurningkP;
setControl(
new SwerveRequest.ApplyRobotSpeeds().withSpeeds(new ChassisSpeeds(0, 0, omega))
);
}
private static final double kMaxVisionJumpMeters = 1.0;
private static final double kMaxOmegaDegPerSec = 360.0;
/**
* Returns a command that applies the specified control request to this swerve drivetrain.
* 返回一个持续下发指定 swerve 请求的命令。
*
* @param request Function returning the request to apply
* @return Command to run
* @param request 生成待下发请求的函数。
* @return 可调度执行的 Command。
*/
public Command applyRequest(Supplier<SwerveRequest> request) {
return run(() -> this.setControl(request.get()));
@@ -160,10 +194,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
this.setControl(requestSupplier.get());
});
}
public void forceUsingLimelightmt2() {
LimelightHelpers.PoseEstimate mt2 =
LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter);
LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter);
if (mt2 == null || mt2.tagCount == 0) {
return;
@@ -172,10 +206,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
var stdDevs = VecBuilder.fill(0.7, 0.7, 9999999);
addVisionMeasurement(mt2.pose, mt2.timestampSeconds, stdDevs);
}
public void forceUsingLimelightmt2WithllName(String llString) {
LimelightHelpers.PoseEstimate mt2 =
LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(llString);
LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(llString);
if (mt2 == null || mt2.tagCount == 0) {
return;
@@ -184,14 +218,15 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
var stdDevs = VecBuilder.fill(0.7, 0.7, 9999999);
addVisionMeasurement(mt2.pose, mt2.timestampSeconds, stdDevs);
}
private void fuseLimelightmt2() {
Pose2d current = getState().Pose;
LimelightHelpers.PoseEstimate mt2_shooter =
getLimelightPoseEstimate(Constants.Limelight.LIMELIGHT_NAME_Shooter);
getLimelightPoseEstimate(Constants.Limelight.LIMELIGHT_NAME_Shooter);
LimelightHelpers.PoseEstimate mt2_intaker =
getLimelightPoseEstimate(Constants.Limelight.LIMELIGHT_NAME_Intaker);
getLimelightPoseEstimate(Constants.Limelight.LIMELIGHT_NAME_Intaker);
boolean shooterAvailable = ifLimelightPositioningAvailable(mt2_shooter, current);
boolean intakerAvailable = ifLimelightPositioningAvailable(mt2_intaker, current);
@@ -199,35 +234,34 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
ll_intaker_NT.getEntry("available").setBoolean(intakerAvailable);
ll_shooter_NT.getEntry("TagCount").setNumber(mt2_shooter != null ? mt2_shooter.tagCount : 0);
ll_intaker_NT.getEntry("TagCount").setNumber(mt2_intaker != null ? mt2_intaker.tagCount : 0);
LimelightHelpers.PoseEstimate mt2_final = null;
if(!shooterAvailable && !intakerAvailable) {
if (!shooterAvailable && !intakerAvailable) {
positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(false);
positioningNetworkTable.getEntry("Usingll").setString("None");
//positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(Double.NaN);
// 未使用视觉时不发布距离差，避免仪表盘误读旧值。
return;
}else if (shooterAvailable && !intakerAvailable) {
} else if (shooterAvailable && !intakerAvailable) {
double shooterDistance = current.getTranslation().getDistance(mt2_shooter.pose.getTranslation());
ll_shooter_NT.getEntry("Distance").setDouble(shooterDistance);
ll_shooter_NT.getEntry("X").setDouble(mt2_shooter.pose.getX());
ll_shooter_NT.getEntry("Y").setDouble(mt2_shooter.pose.getY());
positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(true);
positioningNetworkTable.getEntry("Usingll").setString("Shooter");
//positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(Double.NaN);
// 单个 Limelight 可用时直接采用该测量。
mt2_final = mt2_shooter;
}else if (!shooterAvailable && intakerAvailable) {
} else if (!shooterAvailable && intakerAvailable) {
double intakerDistance = current.getTranslation().getDistance(mt2_intaker.pose.getTranslation());
ll_intaker_NT.getEntry("Distance").setDouble(intakerDistance);
ll_intaker_NT.getEntry("X").setDouble(mt2_intaker.pose.getX());
ll_intaker_NT.getEntry("Y").setDouble(mt2_intaker.pose.getY());
positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(true);
positioningNetworkTable.getEntry("Usingll").setString("Intaker");
//positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(Double.NaN);
// 单个 Limelight 可用时直接采用该测量。
mt2_final = mt2_intaker;
}else {
// 两个都可用时的策略：这里简单选更近的，你也
} else {
// 两个 Limelight 都可用时，先选择与当前位姿更接近的测量。
double shooterDistance = current.getTranslation().getDistance(mt2_shooter.pose.getTranslation());
double intakerDistance = current.getTranslation().getDistance(mt2_intaker.pose.getTranslation());
double difference = mt2_shooter.pose.getTranslation().getDistance(mt2_intaker.pose.getTranslation());
@@ -245,7 +279,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
mt2_final = shooterDistance <= intakerDistance ? mt2_shooter : mt2_intaker;
}
Pose2d mt2Pose = mt2_final.pose;
double distance = current.getTranslation().getDistance(mt2Pose.getTranslation());
@@ -258,11 +292,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
positioningNetworkTable.getEntry("PoseDistance").setDouble(distance);
positioningNetworkTable.getEntry("RotationDifference").setDouble(Math.abs(deltaRotation.getDegrees()));
// 4) 设置测量噪声（示例：theta 基本不信任就给极大）
// 你也可以根据 mt2.avgTagDist / mt2.tagSpan 动态调
// 视觉测量噪声：theta 基本不信任，只融合平移。
// 后续可以根据 mt2.avgTagDist / mt2.tagSpan 动态调整。
var stdDevs = VecBuilder.fill(0.7, 0.7, 9999999);
// 5) 融合：注意 timestampSeconds 的处理
// 融合视觉测量，注意 timestampSeconds 的时间基转换。
addVisionMeasurement(mt2_final.pose, mt2_final.timestampSeconds, stdDevs);
positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(true);
}
@@ -273,156 +307,28 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}
return LimelightHelpers.getBotPoseEstimate_wpiBlue(limelightName);
}
private boolean ifLimelightPositioningAvailable(LimelightHelpers.PoseEstimate mt2, Pose2d currentPose) {
// 1) 没看到 tag：拒绝
// 没看到 tag 时拒绝该帧视觉定位。
if (mt2 == null || mt2.tagCount == 0) {
return false;
}
// 2) 转太快：拒绝（角速度你可以从 Pigeon2 或 drivetrain state 拿）
double omegaDegPerSec = getPigeon2().getAngularVelocityZWorld().getValueAsDouble(); // 若你有这个信号
if (Math.abs(omegaDegPerSec) > kMaxOmegaDegPerSec) {
//System.out.println("NoUsingMetaTag2ForTooFastRotationSpeed");
return false;
}
// 3) 跳变太大：拒绝（Phoenix6 推荐的稳定策略）
//Pose2d current = getState().Pose;
// if (currentPose.getTranslation().getDistance(mt2.pose.getTranslation()) > kMaxVisionJumpMeters) {
// //System.out.println("NoUsingMetaTag2ForTooChangingPose");
// return false;
// }
// 旋转太快时拒绝该帧，避免高速转动时的视觉跳变。
double omegaDegPerSec = getPigeon2().getAngularVelocityZWorld().getValueAsDouble();
if (Math.abs(omegaDegPerSec) > kMaxOmegaDegPerSec) {
return false;
}
return true;
}
private double clamp(double value, double min, double max) {
return Math.max(min, Math.min(max, value));
}
// public String driveToAprilTag() {
// System.out.println("Pipeline = " + LimelightHelpers.getCurrentPipelineIndex(Constants.Limelight.LIMELIGHT_NAME_Intaker));
// System.out.println("TV = " + LimelightSupplier.isTargetVisible());
// if (!LimelightSupplier.isTargetVisible()) {
// isAlignedToAprilTag = false;
// //stop();
// return "No Target";
// }
// RawFiducial[] fiducials =
// LimelightHelpers.getRawFiducials(Constants.Limelight.LIMELIGHT_NAME_Intaker);
// boolean foundDesiredTag = false;
// for (RawFiducial fiducial : fiducials) {
// if (fiducial.id == 16 || fiducial.id == 32) {
// foundDesiredTag = true;
// break;
// }
// }
// if (!foundDesiredTag) {
// isAlignedToAprilTag = false;
// stop();
// return "No Desired Tag";
// }
// // ===== 读取原始误差 =====
// double tx = LimelightSupplier.getTX(); // deg
// double tz = -LimelightSupplier.getTargetTZ(); // m，方向按你当前经验保留负号
// double ry = LimelightSupplier.getTargetRotationY(); // deg
// // ===== 用原始误差判断是否已对齐 =====
// isAlignedToAprilTag =
// Math.abs(tx) < Constants.Limelight.AutoClimbToleranceTX &&
// Math.abs(tz) < Constants.Limelight.AutoClimbToleranceTZ &&
// Math.abs(ry) < Constants.Limelight.AutoClimbToleranceRY;
// if (isAlignedToAprilTag) {
// stop();
// return "Aligned";
// }
// // ===== 计算输出 =====
// double vx = 0.0;
// double vy = 0.0;
// double omega = 0.0;
// // 1) 前后控制：根据 tz 前进/后退
// if (Math.abs(tz) > Constants.Limelight.AutoClimbToleranceTZ) {
// vx = tz * Constants.Limelight.AutoClimbKpTZ;
// // 最小输出，避免快到目标时不动
// if (Math.abs(vx) < Constants.Limelight.AutoClimbMinVX) {
// vx = Math.copySign(Constants.Limelight.AutoClimbMinVX, vx);
// }
// // 最大输出限幅
// vx = clamp(vx,
// -Constants.Limelight.AutoClimbMaxVX,
// Constants.Limelight.AutoClimbMaxVX);
// }
// // 2) 旋转控制：tx 为主，ry 为辅
// // tx 负责“镜头中心对准 tag”
// // ry 负责“机器人姿态微调”
// // double omegaFromTx = 0.0;
// // double omegaFromRy = 0.0;
// // if (Math.abs(tx) > Constants.Limelight.AutoClimbToleranceTX) {
// // omegaFromTx = -tx * Constants.Limelight.AutoClimbKpTX;
// // }
// // if (Math.abs(ry) > Constants.Limelight.AutoClimbToleranceRY) {
// // omegaFromRy = ry * Constants.Limelight.AutoClimbKpRY;
// // }
// // omega = omegaFromTx + omegaFromRy;
// // // 大偏角时直接给较明显的转速，先把朝向拉回来
// // if (Math.abs(tx) > Constants.Limelight.AutoClimbFastTurnThresholdTX) {
// // omega = Math.copySign(Constants.Limelight.AutoClimbFastTurnOmega, omega);
// // }
// // // 最小输出，避免转不动
// // if (Math.abs(omega) > 1e-6 && Math.abs(omega) < Constants.Limelight.AutoClimbMinOmega) {
// // omega = Math.copySign(Constants.Limelight.AutoClimbMinOmega, omega);
// // }
// // // 最大输出限幅
// // omega = clamp(omega,
// // -Constants.Limelight.AutoClimbMaxOmega,
// // Constants.Limelight.AutoClimbMaxOmega);
// Rotation2d ClimbcurrentAngle = getState().Pose.getRotation();
// double climbCurrentRad = ClimbcurrentAngle.getRadians();
// double TargetAngleforClimbing = Math.toRadians(0);
// double Climberror = TargetAngleforClimbing - climbCurrentRad;
// if (Math.abs(Climberror) < Math.toRadians(Constants.AutoPositioning.autoPositioningAngleError)) {
// omega = 0.0;
// } else {
// omega = Climberror * Constants.AutoPositioning.TurningkP;
// }
// // ===== 调试输出 =====
// driveNetworkTable.getEntry("ClimbTX").setDouble(tx);
// driveNetworkTable.getEntry("ClimbTZ").setDouble(tz);
// driveNetworkTable.getEntry("ClimbRY").setDouble(ry);
// driveNetworkTable.getEntry("ClimbVXCmd").setDouble(vx);
// driveNetworkTable.getEntry("ClimbOmegaCmd").setDouble(omega);
// driveNetworkTable.getEntry("ClimbAligned").setBoolean(isAlignedToAprilTag);
// // ===== 下发到底盘 =====
// driveRobotRelative(new ChassisSpeeds(vx, vy, omega));
// return "Driving to AprilTag";
// }
// public boolean isAlignedToAprilTag(){
// return isAlignedToAprilTag;
// }
@Override
public void periodic() {
Pose2d pose = getState().Pose;
m_field.setRobotPose(pose);
posePub.set(pose);
@@ -431,20 +337,19 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
driveNetworkTable.getEntry("YawFromState").setDouble(getState().Pose.getRotation().getDegrees());
driveNetworkTable.getEntry("DriveMode").setString(m_driveMode.name());
driveNetworkTable.getEntry("IsFieldCentric").setBoolean(m_driveMode == DriveMode.FIELD_CENTRIC);
//positioningNetworkTable.getEntry("isAlignedToAprilTag").setBoolean(isAlignedToAprilTag());
// positioningNetworkTable.getEntry("interestPointsClimber TX").setDouble(LimelightSupplier.getTX());
// positioningNetworkTable.getEntry("interestPointsClimber RY").setDouble(LimelightSupplier.getTargetRotationY());
// positioningNetworkTable.getEntry("interestPointsClimber TZ").setDouble(-LimelightSupplier.getTargetTZ());
// 保留 Positioning 表中的基础状态输出。
positioningNetworkTable.getEntry("interestPointsCl").setBoolean(false);
// 1) 每帧喂给 LL：机器人当前 yaw（度），其余先全 0
// 每帧向 Limelight 写入当前 yaw，供 MegaTag2 使用。
LimelightHelpers.SetRobotOrientation(
Constants.Limelight.LIMELIGHT_NAME_Shooter,
pose.getRotation().getDegrees(), // 关键：要符合 wpiBlue 约定
pose.getRotation().getDegrees(), // 符合 wpiBlue 坐标约定。
0, 0, 0, 0, 0
);
LimelightHelpers.SetRobotOrientation(
Constants.Limelight.LIMELIGHT_NAME_Intaker,
pose.getRotation().getDegrees(), // 关键：要符合 wpiBlue 约定
pose.getRotation().getDegrees(), // 符合 wpiBlue 坐标约定。
0, 0, 0, 0, 0
);
@@ -460,15 +365,13 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
m_hasAppliedOperatorPerspective = true;
});
}
}
/**
* Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
* while still accounting for measurement noise.
}
/**
* 添加一帧视觉位姿测量，用于修正里程计估计。
*
* @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
* @param timestampSeconds The timestamp of the vision measurement in seconds.
* @param visionRobotPoseMeters 视觉测得的机器人位姿。
* @param timestampSeconds 视觉测量时间戳，单位秒。
*/
@Override
public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
@@ -476,17 +379,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}
/**
* Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
* while still accounting for measurement noise.
* <p>
* Note that the vision measurement standard deviations passed into this method
* will continue to apply to future measurements until a subsequent call to
* {@link #setVisionMeasurementStdDevs(Matrix)} or this method.
* 添加一帧带标准差的视觉位姿测量。
*
* @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
* @param timestampSeconds The timestamp of the vision measurement in seconds.
* @param visionMeasurementStdDevs Standard deviations of the vision pose measurement
* in the form [x, y, theta]ᵀ, with units in meters and radians.
* @param visionRobotPoseMeters 视觉测得的机器人位姿。
* @param timestampSeconds 视觉测量时间戳，单位秒。
* @param visionMeasurementStdDevs 视觉测量标准差，格式为 [x, y, theta]。
*/
@Override
public void addVisionMeasurement(
@@ -498,10 +395,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}
/**
* Return the pose at a given timestamp, if the buffer is not empty.
* 从位姿缓存中读取指定时间戳的机器人位姿。
*
* @param timestampSeconds The timestamp of the pose in seconds.
* @return The pose at the given timestamp (or Optional.empty() if the buffer is empty).
* @param timestampSeconds 位姿时间戳，单位秒。
* @return 指定时间的位姿；缓存为空时返回 Optional.empty()。
*/
@Override
public Optional<Pose2d> samplePoseAt(double timestampSeconds) {