Package frc.robot

Class FieldConstants

java.lang.Object

frc.robot.FieldConstants

public class FieldConstants
extends Object

Field geometry and reference points for path planning, vision, and alignment.

Coordinate system:

• All constants are expressed in the WPILib field coordinate system.
• Values are defined from the perspective of the BLUE alliance wall.

Source of truth:

• Field size and AprilTag poses are loaded from an AprilTagFieldLayout JSON.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	FieldConstants.AprilTagLayoutType	Available AprilTag layouts for this project.
static class	FieldConstants.Depot	Depot geometry and reference points on the alliance side.
static enum	FieldConstants.FieldType	Identifies which set of field-measurement JSONs to load.
static class	FieldConstants.Hub	Hub geometry and reference points (center, corners, and faces).
static class	FieldConstants.LeftBump	Geometry for the left bump and common reference points.
static class	FieldConstants.LeftTrench	Left trench geometry and key opening reference points.
static class	FieldConstants.LinesHorizontal	Convenient Y positions for important horizontal (field-widthwise) lines.
static class	FieldConstants.LinesVertical	Convenient X positions for important vertical (field-lengthwise) lines.
static class	FieldConstants.Outpost	Outpost geometry and reference points on the alliance side.
static class	FieldConstants.Passing	Geometry and reference points on the alliance side for the autoPass command.
static class	FieldConstants.Rectangles	Defines commonly used rectangular field regions.
static class	FieldConstants.RightBump	Geometry for the right bump and common reference points.
static class	FieldConstants.RightTrench	Right trench geometry and key opening reference points.
static class	FieldConstants.Tower	Tower geometry and reference points (center and uprights).

Field Summary

Fields

Modifier and Type	Field	Description
static final int	aprilTagCount	Number of AprilTags in the currently selected official layout.
static final double	aprilTagWidth	Physical width of an AprilTag (edge length) in meters.
static final FieldConstants.AprilTagLayoutType	defaultAprilTagType	Default AprilTag layout to use for most robot code.
static final double	fieldLength	Field length in meters as defined by the official AprilTag layout.
static final FieldConstants.FieldType	fieldType	Which physical field variant the geometry files correspond to.
static final double	fieldWidth	Field width in meters as defined by the official AprilTag layout.

Constructor Summary

Constructors

Constructor	Description
FieldConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

fieldType

public static final FieldConstants.FieldType fieldType

Which physical field variant the geometry files correspond to.

This value affects which deploy subfolder is used when loading AprilTag layouts.

aprilTagCount

public static final int aprilTagCount

Number of AprilTags in the currently selected official layout.

This is computed from FieldConstants.AprilTagLayoutType.OFFICIAL.

aprilTagWidth

public static final double aprilTagWidth

Physical width of an AprilTag (edge length) in meters.

defaultAprilTagType

public static final FieldConstants.AprilTagLayoutType defaultAprilTagType

Default AprilTag layout to use for most robot code.

Other layouts (such as FieldConstants.AprilTagLayoutType.NONE) can exist for simulation/testing.

fieldLength

public static final double fieldLength

Field length in meters as defined by the official AprilTag layout.

fieldWidth

public static final double fieldWidth

Field width in meters as defined by the official AprilTag layout.

Constructor Details

FieldConstants

public FieldConstants()