a

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "java.configuration.updateBuildConfiguration": "automatic"
+}

src/main/java/frc/robot/RobotContainer.kt

@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj2.command.Commands
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 import frc.robot.generated.TunerConstants
 import frc.robot.subsystems.CommandSwerveDrivetrain
+import frc.robot.subsystems.VisionSubsystem
 import java.util.function.Supplier
 
 class RobotContainer {
@@ -35,6 +36,7 @@ class RobotContainer {
     /* Setting up bindings for necessary control of the swerve drive platform */
     private val joystick = CommandXboxController(0)
     var drivetrain: CommandSwerveDrivetrain = TunerConstants.DriveTrain // drivetrain
+    val camera : VisionSubsystem = VisionSubsystem()
 
     // Slew Rate Limiters to limit acceleration of joystick inputs
     private val xLimiter = SlewRateLimiter(2.0)
@@ -77,6 +79,9 @@ class RobotContainer {
         // reset the field-centric heading on left bumper press
         joystick.leftBumper().onTrue(drivetrain.runOnce { drivetrain.seedFieldRelative() })
 
+        //face robot toward closest note
+        joystick.rightBumper().onTrue(drivetrain.applyRequest { point.withModuleDirection(camera.getNearestRotation())})
+
         if (Utils.isSimulation()) {
             drivetrain.seedFieldRelative(Pose2d(Translation2d(), Rotation2d.fromDegrees(90.0)))
         }

src/main/java/frc/robot/subsystems/vision/VisionSubsystem.kt

@@ -0,0 +1,25 @@
+package frc.robot.subsystems
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase
+import edu.wpi.first.math.geometry.Rotation2d
+import org.photonvision.PhotonCamera
+import org.photonvision.PhotonUtils
+import org.photonvision.targeting.PhotonTrackedTarget
+
+public class VisionSubsystem : SubsystemBase(){
+    private var camera : PhotonCamera = PhotonCamera("camera1")
+
+    public VisionSubsystem()
+
+    //returns angle to nearest note relative to the front of the robot
+    public fun getNearestRotation() : Rotation2d{
+        var result = camera.getLatestResult()
+        if(result.hasTargets()){
+            var target : PhotonTrackedTarget = result.getBestTarget()
+            return Rotation2d.fromDegrees(target.getYaw())
+        }
+        return Rotation2d.fromDegrees(0.0)
+    }
+
+
+}

vendordeps/photonlib.json

@@ -0,0 +1,57 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2024.3.1",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-cpp",
+            "version": "v2024.3.1",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2024.3.1",
+            "libName": "photontargeting",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-java",
+            "version": "v2024.3.1"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-java",
+            "version": "v2024.3.1"
+        }
+    ]
+}