Package frc.lib.util

Class FieldConstants

java.lang.Object

frc.lib.util.FieldConstants

public class FieldConstants
extends Object

Field Constants

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	FieldConstants.Community	Dimensions for community and charging station, including the tape.
static final class	FieldConstants.Grids	Dimensions for grids and nodes
static final class	FieldConstants.LoadingZone	Dimensions for loading zone and substations, including the tape
static final class	FieldConstants.StagingLocations	Locations of staged game pieces

Field Summary

Fields

Modifier and Type	Field	Description
static final Map<Integer,Pose3d>	aprilTags	AprilTag locations (do not flip for red alliance)
static final Pose3d	blueOrigin
static final double	fieldLength
static final double	fieldWidth
static final Pose3d	redOrigin
static final double	tapeWidth

Constructor Summary

Constructors

Constructor	Description
FieldConstants()

Method Summary

Modifier and Type	Method	Description
static Pose2d	allianceFlip(Pose2d pose)	Flips a pose to the correct side of the field based on the current alliance color.
static Translation2d	allianceFlip(Translation2d translation)	Flips a translation to the correct side of the field based on the current alliance color.
static double	fieldSdf(Translation2d p)	Find the minimum distance from a point to an obstacle on the field.
static double	fieldSdf(Translation2d p, double radius)	Find the minimum distance from a circular robot to an obstacle on the field.

Methods inherited from class java.lang.Object

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

Field Details

fieldLength

public static final double fieldLength

fieldWidth

public static final double fieldWidth

tapeWidth

public static final double tapeWidth

blueOrigin

public static final Pose3d blueOrigin

redOrigin

public static final Pose3d redOrigin

aprilTags

public static final Map<Integer,Pose3d> aprilTags

AprilTag locations (do not flip for red alliance)

Constructor Details

FieldConstants

public FieldConstants()

Method Details

allianceFlip

public static Translation2d allianceFlip(Translation2d translation)

Flips a translation to the correct side of the field based on the current alliance color. By default, all translations and poses in FieldConstants are stored with the origin at the rightmost point on the BLUE ALLIANCE wall.

allianceFlip

public static Pose2d allianceFlip(Pose2d pose)

Flips a pose to the correct side of the field based on the current alliance color. By default, all translations and poses in FieldConstants are stored with the origin at the rightmost point on the BLUE ALLIANCE wall.

Parameters:

pose - Initial Pose

Returns:

Pose2d flipped to Red Alliance

fieldSdf

public static double fieldSdf(Translation2d p,
 double radius)

Find the minimum distance from a circular robot to an obstacle on the field.

Parameters:

p - Starting translation

radius - Radius

Returns:

field SDF

fieldSdf

public static double fieldSdf(Translation2d p)

Find the minimum distance from a point to an obstacle on the field.