Package gg.questnav.questnav

Class QuestNav

java.lang.Object
gg.questnav.questnav.QuestNav
public class QuestNav extends Object
The QuestNav class provides an interface to communicate with an Oculus/Meta Quest VR headset for robot localization and tracking purposes. It uses NetworkTables to exchange data between the robot and the Quest device.

  • Constructor Summary

    Constructors
    Constructor
    Description
    QuestNav()
    Creates a new QuestNav implementation

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    commandPeriodic()
    Cleans up QuestNav responses after processing on the headset.
    double
    getAppTimestamp()
    Gets the Quest app's timestamp since start THIS IS NOT THE SAME AS THE TIMESTAMP USED WITH AN ESTIMATOR! See 'getDataTimestamp' instead
    int
    getBatteryPercent()
    Gets the battery percentage of the Quest headset.
    double
    getDataTimestamp()
    Gets the NT timestamp of when the data was sent.
    int
    getFrameCount()
    Gets the current frame count from the Quest headset.
    double
    getLatency()
    Gets the latency of the Quest > Robot Connection
    edu.wpi.first.math.geometry.Pose2d
    getPose()
    Converts the QuestNav rotation to a Rotation2d object.
    int
    getTrackingLostCounter()
    Gets the number of tracking lost events since the Quest connected to the robot.
    boolean
    isConnected()
    Determines if the Quest headset is currently connected to the robot.
    boolean
    isTracking()
    Gets the current tracking state of the Quest headset.
    void
    setPose(edu.wpi.first.math.geometry.Pose2d pose)
    Sets the FRC field relative pose of the Quest.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • QuestNav

      public QuestNav()
      Creates a new QuestNav implementation

  • Method Details

    • setPose

      public void setPose(edu.wpi.first.math.geometry.Pose2d pose)
      Sets the FRC field relative pose of the Quest. This is the QUESTS POSITION, NOT THE ROBOTS! Make sure you correctly offset back from the center of your robot first!
      Parameters:
      pose - The field relative position of the Quest

    • getBatteryPercent

      public int getBatteryPercent()
      Gets the battery percentage of the Quest headset.
      Returns:
      The battery percentage as a Double value

    • isTracking

      public boolean isTracking()
      Gets the current tracking state of the Quest headset.
      Returns:
      Boolean indicating if the Quest is currently tracking (true) or not (false)

    • getFrameCount

      public int getFrameCount()
      Gets the current frame count from the Quest headset.
      Returns:
      The frame count value

    • getTrackingLostCounter

      public int getTrackingLostCounter()
      Gets the number of tracking lost events since the Quest connected to the robot.
      Returns:
      The tracking lost counter value

    • isConnected

      public boolean isConnected()
      Determines if the Quest headset is currently connected to the robot. Connection is determined by checking when the last battery update was received.
      Returns:
      Boolean indicating if the Quest is connected (true) or not (false)

    • getLatency

      public double getLatency()
      Gets the latency of the Quest > Robot Connection
      Returns:
      double indicating the latency of the frameData (the important part)

    • getAppTimestamp

      public double getAppTimestamp()
      Gets the Quest app's timestamp since start THIS IS NOT THE SAME AS THE TIMESTAMP USED WITH AN ESTIMATOR! See 'getDataTimestamp' instead
      Returns:
      The timestamp as a double value

    • getDataTimestamp

      public double getDataTimestamp()
      Gets the NT timestamp of when the data was sent. THIS IS THE VALUE YOU USE WHEN ADDING TO AN ESTIMATOR
      Returns:
      The timestamp as a double value

    • getPose

      public edu.wpi.first.math.geometry.Pose2d getPose()
      Converts the QuestNav rotation to a Rotation2d object. Applies necessary coordinate system transformations.
      Returns:
      Rotation2d representing the headset's yaw

    • commandPeriodic

      public void commandPeriodic()
      Cleans up QuestNav responses after processing on the headset.