Add FuelVision subsystem for ML game piece detection #4

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jovapo wants to merge 1 commit from fuel-vision into dev

jovapo commented

2026-03-15 23:51:31 -05:00

(Migrated from github.com)

Summary

Adds FuelVision subsystem with floor-projection from camera bearing rays (real robot) and heading-based FOV filtering against Maple Sim ground truth (simulation)
Adds FuelVisionConstants with Arducam OV9782 camera placement, FOV values from spec sheet, and all tunable detection parameters
Wires up FuelVision in RobotContainer; seeds sim field with resetFieldForAuto() in autonomousInit()
Adds docs/FuelVisionSetup.md covering PhotonVision model options, OrangePi deployment, and offline/competition setup

Test plan

./gradlew build passes clean
./gradlew simulateJava — enable Auto to seed field, switch to Teleop, drive near fuel and confirm logFuelMap / logFuelMap3d populate in AdvantageScope; drive away and confirm entries age out after ~8s
Confirm detections stop when robot faces away from fuel (FOV filter working)
./gradlew test — existing tests still pass

## Summary - Adds `FuelVision` subsystem with floor-projection from camera bearing rays (real robot) and heading-based FOV filtering against Maple Sim ground truth (simulation) - Adds `FuelVisionConstants` with Arducam OV9782 camera placement, FOV values from spec sheet, and all tunable detection parameters - Wires up `FuelVision` in `RobotContainer`; seeds sim field with `resetFieldForAuto()` in `autonomousInit()` - Adds `docs/FuelVisionSetup.md` covering PhotonVision model options, OrangePi deployment, and offline/competition setup ## Test plan - [ ] `./gradlew build` passes clean - [ ] `./gradlew simulateJava` — enable Auto to seed field, switch to Teleop, drive near fuel and confirm `logFuelMap` / `logFuelMap3d` populate in AdvantageScope; drive away and confirm entries age out after ~8s - [ ] Confirm detections stop when robot faces away from fuel (FOV filter working) - [ ] `./gradlew test` — existing tests still pass

This pull request has changes conflicting with the target branch.

src/main/java/frc/robot/Robot.java

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Merge commit title

Add FuelVision subsystem for ML game piece detection (#4)

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Reviewed-on: https://git.emeraldcityrobotics.org/chainlynx/2026_Season/pulls/4

Add FuelVision subsystem for ML game piece detection (#4)

Reviewed-on: https://git.emeraldcityrobotics.org/chainlynx/2026_Season/pulls/4

Checkout

From your project repository, check out a new branch and test the changes.

git fetch -u origin fuel-vision:fuel-vision

git switch fuel-vision

Merge

Merge the changes and update on Forgejo.

Warning: The "Autodetect manual merge" setting is not enabled for this repository, you will have to mark this pull request as manually merged afterwards.

git switch dev

git merge --no-ff fuel-vision

git switch fuel-vision

git rebase dev

git switch dev

git merge --ff-only fuel-vision

git switch fuel-vision

git rebase dev

git switch dev

git merge --no-ff fuel-vision

git switch dev

git merge --squash fuel-vision