Package frc.robot

Class FieldConstants.Tower

java.lang.Object
frc.robot.FieldConstants.Tower
Enclosing class:
FieldConstants
public static class FieldConstants.Tower extends Object
Tower geometry and reference points (center and uprights).

Useful for alignment targets and autonomous placement.

  • Field Details

    • width

      public static final double width
      Tower width (meters).

    • depth

      public static final double depth
      Tower depth (meters).

    • height

      public static final double height
      Tower height (meters).

    • innerOpeningWidth

      public static final double innerOpeningWidth
      Width of the inner opening (meters).

    • frontFaceX

      public static final double frontFaceX
      X coordinate of the tower front face (meters).

    • uprightHeight

      public static final double uprightHeight
      Height of the uprights (meters).

    • lowRungHeight

      public static final double lowRungHeight
      Low rung height above carpet (meters).

    • midRungHeight

      public static final double midRungHeight
      Mid rung height above carpet (meters).

    • highRungHeight

      public static final double highRungHeight
      High rung height above carpet (meters).

    • centerPoint

      public static final Translation2d centerPoint
      Tower center point on the alliance side (2D).

      Y is derived from AprilTag 31.

    • leftUpright

      public static final Translation2d leftUpright
      Left upright position on the alliance side (2D).

      The extra 0.75 inch accounts for physical offset/clearance.

    • rightUpright

      public static final Translation2d rightUpright
      Right upright position on the alliance side (2D).

      The extra 0.75 inch accounts for physical offset/clearance.

    • oppCenterPoint

      public static final Translation2d oppCenterPoint
      Tower center point on the opposing side (2D).

      X is mirrored about the field length. Y is derived from AprilTag 15.

    • oppLeftUpright

      public static final Translation2d oppLeftUpright
      Left upright position on the opposing side (2D).

    • oppRightUpright

      public static final Translation2d oppRightUpright
      Right upright position on the opposing side (2D).

  • Constructor Details

    • Tower

      public Tower()