Package frc.lib.util

Class FieldConstants

java.lang.Object

frc.lib.util.FieldConstants

public class FieldConstants
extends Object

Contains various field dimensions and useful reference points. Dimensions are in meters, and sets of corners start in the lower left moving clockwise. All units in Meters

All translations and poses are stored with the origin at the rightmost point on the BLUE ALLIANCE wall.

Length refers to the x direction (as described by wpilib)
Width refers to the y direction (as described by wpilib)

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	FieldConstants.Speaker	Each corner of the speaker *
static final class	FieldConstants.StagingLocations	Staging locations for each note

Field Summary

Fields

Modifier and Type	Field	Description
static Translation2d	ampCenter
static AprilTagFieldLayout	aprilTags
static double	aprilTagWidth
static Translation3d	bottomLeftSpeaker
static Translation3d	bottomRightSpeaker
static double	centerSpeaker
static double	fieldLength
static double	fieldWidth
static double	podiumX
static double	startingLineX
static Translation3d	topLeftSpeaker
static Translation3d	topRightSpeaker
static double	wingX

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 Rotation2d	allianceFlip(Rotation2d rotation)	Flips a pose to the correct side of the field based on the current alliance color.
static Translation2d	allianceFlip(Translation2d pose)	Flips a pose to the correct side of the field based on the current alliance color.

Methods inherited from class java.lang.Object

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

Field Details

fieldLength

public static double fieldLength

fieldWidth

public static double fieldWidth

wingX

public static double wingX

podiumX

public static double podiumX

startingLineX

public static double startingLineX

ampCenter

public static Translation2d ampCenter

topRightSpeaker

public static Translation3d topRightSpeaker

topLeftSpeaker

public static Translation3d topLeftSpeaker

bottomRightSpeaker

public static Translation3d bottomRightSpeaker

bottomLeftSpeaker

public static Translation3d bottomLeftSpeaker

centerSpeaker

public static double centerSpeaker

aprilTagWidth

public static double aprilTagWidth

aprilTags

public static AprilTagFieldLayout aprilTags

Constructor Details

FieldConstants

public FieldConstants()

Method Details

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

allianceFlip

public static Translation2d allianceFlip(Translation2d 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

allianceFlip

public static Rotation2d allianceFlip(Rotation2d rotation)

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:

rotation - Initial Pose

Returns:

Rotation2d flipped to Red Alliance