Vision Overview
Our vision goals:
- Localize the robot with AprilTags (pose for autonomous + autoscore)
- Detect game pieces for pickup/assistance
- Assist drivers with alignment overlays/indicators
Hardware Summary
| Component | Choice | Why |
|---|---|---|
| Coprocessor | Orange Pi 5 | Fast CPU/NPU, low latency Ethernet |
| AprilTag Camera | Arducam OV9281 (mono, global shutter) | Crisp motion frames; better PnP solves |
| Game Piece Camera | Arducam OV9782 (color) | Good color fidelity/speed for piece finding |
| Case | Zinc‑V Case | Rigid, protected, fan support |
Software Summary
- PhotonVision on the Orange Pi 5
- NetworkTables (NT4) for data into WPILib
- AdvantageScope for live + replay
- Custom fusion code (
PhotonOdometryCamera,GamePieceCamera) for pose + targets