leds for vision indication by aishahnazar · Pull Request #101 · missfits/Robot-Code-2026

aishahnazar · 2026-03-10T01:47:59Z

currently has 4 checks:

areCamerasConnected
isVisionUpdating
isEstPoseJumpy

augmentcode · 2026-03-10T01:50:22Z

🤖 Augment PR Summary

Summary: Adds a vision-health LED indicator and supporting health checks.

Changes:

Create VisionSubsystem.isVisionHealthy() combining camera connection, update freshness, target validity, and pose stability checks.
Add LocalizationCamera.isConnected() and an LEDSubsystem.runVisionStatus(...) command to render status on the strip.
Wire LEDSubsystem into RobotContainer with a default command that shows scrolling team colors when healthy and solid red when unhealthy.

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augmentcode

Review completed. 2 suggestions posted.

Comment augment review to trigger a new review at any time.

augmentcode · 2026-03-10T01:50:23Z

+    LEDPattern base = LEDPattern.gradient(LEDPattern.GradientType.kDiscontinuous, Color.kYellow, Color.kBlue);
+    LEDPattern pattern = base.scrollAtRelativeSpeed(Percent.per(Second).of(100));
+
+    return run(() -> {


Unlike runPattern(...), this command doesn’t call ignoringDisable(true), so the default vision-status LEDs may stop updating while the robot is disabled (and can leave stale colors). Consider whether you want the vision-health indicator to keep running in disabled like the other LED commands.

Severity: medium

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augmentcode · 2026-03-10T01:50:23Z

+      return true;
+    }
+
+    Pose2d currentPose = readings.get(0).robotPose().estimatedPose.toPose2d();


After periodic() sorts allValidReadings oldest-first, readings.get(0) selects the oldest reading (often from a different camera), which can make dt out-of-order and misclassify pose flicker. Consider basing this on the newest timestamped reading (and using CameraReading.timestampSeconds() for consistency).

Severity: medium

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We also don't necessarily want to do this check with only one reading.. mmm idk I think this needs further thinking

amzoeee · 2026-03-10T06:08:03Z

    });
  }

+  public boolean areCamerasConnected() {


I don't think we want to be sad if one camera is not connected. Maybe check for 2+ cameras disconnected instead; or at least make this a changeable constant.

amzoeee · 2026-03-10T06:10:52Z

+
+  public boolean isVisionUpdating() {
+    double currentTime = Timer.getFPGATimestamp();
+    return (currentTime - m_lastTimestamp) < 0.5;


Please also make this magic number a constant.

amzoeee · 2026-03-10T06:11:34Z

+    return (currentTime - m_lastTimestamp) < 0.5;
+  }
+
+  public boolean hasValidTargets() {


This is going to be false whenever we can't see any apriltags. I don't think this is a good indication of whether or not vision is overall healthy -- there are times where I think we won't be able to see apriltags.

amzoeee · 2026-03-10T06:11:58Z

+      return true;
+    }
+
+    Pose2d currentPose = readings.get(0).robotPose().estimatedPose.toPose2d();


amzoeee · 2026-03-10T06:13:05Z

+    return !allValidReadings.isEmpty();
+  }
+
+  public boolean isVisionPoseStable() {


For this, you might want to copy paste the isPoseJumpy() stuff from last year. I'm also not sure if this is a good indication of vision health.

amzoeee · 2026-03-10T06:13:38Z

+      return true;
+    }
+
+    Pose2d currentPose = readings.get(0).robotPose().estimatedPose.toPose2d();


We also don't necessarily want to do this check with only one reading.. mmm idk I think this needs further thinking

amzoeee · 2026-03-10T06:14:01Z

+     m_lastVisionPoseTimestamp = timestamp;
+
+     // if robot seems like it's jumping > 1 meter in < 0.1s → probably est pose is flickering too much
+     return !(distanceJump > 1.0 && dt < 0.1);


In the future, please make these constants.

amzoeee · 2026-03-10T06:15:23Z

    return runPattern(pattern).withName("LED/scrolling yellow-blue");
  }
+
+  public Command runVisionStatus(java.util.function.BooleanSupplier visionHealthySupplier) {


Create a trigger on isVisionHealthy() instead, and bind the trigger to the LED pattern instead

check to see if multiple cameras are disconnected

commit 13f0e79 Author: zoe z <121075323+amzoeee@users.noreply.github.com> Date: Tue Mar 10 11:18:08 2026 -0700 test displace fuel + run column backwards in intake (#104) * update displace fuel timing and position * add intake command commit 8d48f71 Author: zoe z <121075323+amzoeee@users.noreply.github.com> Date: Tue Mar 10 11:17:48 2026 -0700 organize shoot commands (+ fix shootToHub) (#98) * fix whitespace + comments * use parallel group of sequences in shoottohub * add command names * fix shootWithoutDistance javadoc * remove snapToHub timeout? commit 7bc05cf Author: zoe z <121075323+amzoeee@users.noreply.github.com> Date: Tue Mar 10 09:22:22 2026 -0700 add snapForBump command (#97) * add snapForBump * remove unused import * use snap to angle for snap for bump * fix snap to angle logging statement * add names to drivetrain snap to X * fix comments commit d8c257c Author: aishahnazar <aishahnazar2@gmail.com> Date: Mon Mar 9 19:26:14 2026 -0700 add front camera (#99) * add front camera * update constants for front camera * remove comments --------- Co-authored-by: zoe <zoe.z.zhao@gmail.com>

This reverts commit 5dc67b7.

aishahnazar added 2 commits March 9, 2026 18:26

add led subsystem, add vision checks, link vision checks to leds

1f5f004

add check for est pose flickering

7e174cc

augmentcode Bot reviewed Mar 10, 2026

View reviewed changes

amzoeee requested changes Mar 10, 2026

View reviewed changes

aishahnazar and others added 11 commits March 10, 2026 11:32

update areCamerasConnected()

0bdeb4b

check to see if multiple cameras are disconnected

Revert "Squashed commit of the following:"

4a5c79e

This reverts commit 5dc67b7.

initialize constant

77a1709

replace isVisionPoseStable() with isEstPoseJumpy()

efa2b86

update logging name

9acbcdd

remove magic numbers

ef66a55

remove hasValidTargets()

00c9030

replace runVisionStatus command with an event trigger

b364f8a

Merge branch 'main' into aishah/leds-for-vision-indication

74a77bf

update constants for leds

2eede35

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aishahnazar commented Mar 10, 2026 •

edited

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