Package frc.lib.util

Class Scoring

java.lang.Object

frc.lib.util.Scoring

public class Scoring
extends Object

Class containing scoring functions

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Scoring.GamePiece	Enum representing game piece

Constructor Summary

Constructors

Constructor	Description
Scoring()

Method Summary

Modifier and Type	Method	Description
static boolean	gamePieceIsCube()	Is the game piece a cube
static Scoring.GamePiece	getGamePiece()	Get the type of game piece based off the desired scoring position
static Pose2d	getPreScorePosition()	Get initial position prior to scoring that slightly further back to not hit the score line.
static Pose2d	getScoreAlignment(double xPosition)	Get the Pose2d to align to score
static double	getScoreDistance()	Get the distance from the goals based on which level and game piece
static ArmPosition	getScoreParameters()	Get Arm Angle, Elevator Position, Wrist Angle based on which game piece and level to score
static Pose2d	getScorPose2d()	Get final scoring position to release game piece

Methods inherited from class java.lang.Object

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

Constructor Details

Scoring

public Scoring()

Method Details

getGamePiece

public static Scoring.GamePiece getGamePiece()

Get the type of game piece based off the desired scoring position

Returns:

Game Piece

gamePieceIsCube

public static boolean gamePieceIsCube()

Is the game piece a cube

Returns:

True if the game piece is a cube

getScoreDistance

public static double getScoreDistance()

Get the distance from the goals based on which level and game piece

Returns:

distance in Inches from score barrier

getScoreAlignment

public static Pose2d getScoreAlignment(double xPosition)

Get the Pose2d to align to score

Parameters:

xPosition - The distance from the line of April Tags

Returns:

Position to align to score

getScorPose2d

public static Pose2d getScorPose2d()

Get final scoring position to release game piece

Returns:

Position to release game piece

getPreScorePosition

public static Pose2d getPreScorePosition()

Get initial position prior to scoring that slightly further back to not hit the score line.

Returns:

Posi

getScoreParameters

public static ArmPosition getScoreParameters()

Get Arm Angle, Elevator Position, Wrist Angle based on which game piece and level to score

Returns:

ArmPosition object