Package frc.robot

Class FieldConstants.RightTrench

java.lang.Object
frc.robot.FieldConstants.RightTrench
Enclosing class:
FieldConstants
public static class FieldConstants.RightTrench extends Object
Right 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).

    • height

      public static final double height
      Trench height (meters).

    • centerDepth

      public static final double centerDepth
      Trench depth from center

    • 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).

    • redTrenchCenterRight

      public static final Translation2d redTrenchCenterRight
      Center of the Trench for Pose

    • blueTrenchCenterRight

      public static final Translation2d blueTrenchCenterRight

    • redCloseCenterRight

      public static final Translation2d redCloseCenterRight

    • redFarCenterRight

      public static final Translation2d redFarCenterRight

    • blueCloseCenterRight

      public static final Translation2d blueCloseCenterRight

    • blueFarCenterRight

      public static final Translation2d blueFarCenterRight

  • Constructor Details

    • RightTrench

      public RightTrench()