Package frc.robot

Class FieldConstants.LeftTrench

java.lang.Object
frc.robot.FieldConstants.LeftTrench
Enclosing class:
FieldConstants
public static class FieldConstants.LeftTrench extends Object
Left trench geometry and key opening reference points.

This primarily provides 3D points useful for vision targeting to the trench opening.

  • Field Details

    • width

      public static final double width
      Trench width (meters).

    • depth

      public static final double depth
      Trench depth (meters).

    • centerDepth

      public static final double centerDepth
      Trench depth from center (meters)

    • height

      public static final double height
      Trench height (meters).

    • openingWidth

      public static final double openingWidth
      Width of the trench opening (meters).

    • openingHeight

      public static final double openingHeight
      Height of the trench opening (meters).

    • centerWidth

      public static final double centerWidth
      Distance from the edge of the trench to the center of the trench

    • openingTopLeft

      public static final Translation3d openingTopLeft
      Alliance-side opening top-left corner point (3D).

    • openingTopRight

      public static final Translation3d openingTopRight
      Alliance-side opening top-right corner point (3D).

    • oppOpeningTopLeft

      public static final Translation3d oppOpeningTopLeft
      Opposing-side opening top-left corner point (3D).

    • oppOpeningTopRight

      public static final Translation3d oppOpeningTopRight
      Opposing-side opening top-right corner point (3D).

    • redTrenchCenterLeft

      public static final Translation2d redTrenchCenterLeft
      Center Trench for Pose

    • blueTrenchCenterLeft

      public static final Translation2d blueTrenchCenterLeft

    • redCloseCenterLeft

      public static final Translation2d redCloseCenterLeft

    • redFarCenterLeft

      public static final Translation2d redFarCenterLeft

    • blueCloseCenterLeft

      public static final Translation2d blueCloseCenterLeft

    • blueFarCenterLeft

      public static final Translation2d blueFarCenterLeft

  • Constructor Details

    • LeftTrench

      public LeftTrench()