Package frc.robot

Class FieldConstants.Hub

java.lang.Object
frc.robot.FieldConstants.Hub
Enclosing class:
FieldConstants
public static class FieldConstants.Hub extends Object
Hub geometry and reference points (center, corners, and faces).

Many points are defined using the AprilTag poses to remain consistent with the official field layout.

  • Field Details

    • width

      public static final double width
      Outer hub diameter/width in meters.

    • height

      public static final double height
      Outer hub height in meters (includes the catcher/top feature).

    • innerWidth

      public static final double innerWidth
      Inner opening diameter/width in meters.

    • innerHeight

      public static final double innerHeight
      Inner opening height in meters.

    • topCenterPoint

      public static final Translation3d topCenterPoint
      Center point of the top of the hub on the alliance side.

    • innerCenterPoint

      public static final Translation3d innerCenterPoint
      Center point of the inner opening on the alliance side.

    • centerHub

      public static final Translation2d centerHub
      Translation 2d of the center of the Hub

    • nearLeftCorner

      public static final Translation2d nearLeftCorner
      Alliance-side hub corner closest to the alliance wall, left side.

    • nearRightCorner

      public static final Translation2d nearRightCorner
      Alliance-side hub corner closest to the alliance wall, right side.

    • farLeftCorner

      public static final Translation2d farLeftCorner
      Alliance-side hub far corner (away from alliance wall), left side.

    • farRightCorner

      public static final Translation2d farRightCorner
      Alliance-side hub far corner (away from alliance wall), right side.

    • oppTopCenterPoint

      public static final Translation3d oppTopCenterPoint
      Center point of the top of the hub on the opposing side.

    • oppNearLeftCorner

      public static final Translation2d oppNearLeftCorner
      Opposing-side hub corner closest to the far wall, left side.

    • oppNearRightCorner

      public static final Translation2d oppNearRightCorner
      Opposing-side hub corner closest to the far wall, right side.

    • oppFarLeftCorner

      public static final Translation2d oppFarLeftCorner
      Opposing-side hub far corner (toward field center), left side.

    • oppFarRightCorner

      public static final Translation2d oppFarRightCorner
      Opposing-side hub far corner (toward field center), right side.

    • nearFace

      public static final Pose2d nearFace
      Pose of the hub "near" face (alliance side).

      Derived from AprilTag 26 pose.

    • farFace

      public static final Pose2d farFace
      Pose of the hub "far" face (toward opposing side).

      Derived from AprilTag 20 pose.

    • rightFace

      public static final Pose2d rightFace
      Pose of the hub right face (lower Y direction).

      Derived from AprilTag 18 pose.

    • leftFace

      public static final Pose2d leftFace
      Pose of the hub left face (higher Y direction).

      Derived from AprilTag 21 pose.

  • Constructor Details

    • Hub

      public Hub()