Add FuelVision subsystem for ML game piece detection - #4
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- FuelVision.java: floor-projection from camera bearing rays on real robot; heading-based FOV filter against Maple Sim ground truth in simulation; merge/age map with 8s timeout; getNearestFuel, removeFuelNear, clearFuelMap - FuelVisionConstants.java: Arducam OV9782 70deg HFOV camera placement (front of robot, 0.5m high, 30deg down), all tunable constants - RobotContainer: instantiate FuelVision, seed sim field with resetFieldForAuto in autonomousInit - docs/FuelVisionSetup.md: PhotonVision model options, OrangePi deployment, offline/competition setup guide
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Summary
FuelVisionsubsystem with floor-projection from camera bearing rays (real robot) and heading-based FOV filtering against Maple Sim ground truth (simulation)FuelVisionConstantswith Arducam OV9782 camera placement, FOV values from spec sheet, and all tunable detection parametersFuelVisioninRobotContainer; seeds sim field withresetFieldForAuto()inautonomousInit()docs/FuelVisionSetup.mdcovering PhotonVision model options, OrangePi deployment, and offline/competition setupTest plan
./gradlew buildpasses clean./gradlew simulateJava— enable Auto to seed field, switch to Teleop, drive near fuel and confirmlogFuelMap/logFuelMap3dpopulate in AdvantageScope; drive away and confirm entries age out after ~8s./gradlew test— existing tests still pass