Package frc.robot.systems.drive.controllers

Class GoalPoseChooser

java.lang.Object

frc.robot.systems.drive.controllers.GoalPoseChooser

public class GoalPoseChooser
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	GoalPoseChooser.CHOOSER_STRATEGY
static enum	GoalPoseChooser.PoseOffsets
static enum	GoalPoseChooser.SIDE

Field Summary

Fields

Modifier and Type	Field	Description
static final double	kClawOffset
static final double	kDistBetweenBranchesCenter
static final double	kDistBetweenBranchesCenterWithAlgae

Constructor Summary

Constructors

Constructor	Description
GoalPoseChooser()

Method Summary

Modifier and Type	Method	Description
static edu.wpi.first.math.geometry.Pose2d	getGoalPose(GoalPoseChooser.CHOOSER_STRATEGY strategy, edu.wpi.first.math.geometry.Pose2d pose)
static edu.wpi.first.math.geometry.Pose2d	getIntakePose(edu.wpi.first.math.geometry.Pose2d robotPose)
static edu.wpi.first.math.geometry.Pose2d	getNetPose(edu.wpi.first.math.geometry.Pose2d robotPose)
static StateTracker.ReefFace	getReefFace()
static edu.wpi.first.math.geometry.Pose2d	getReefHexagonalPose(edu.wpi.first.math.geometry.Pose2d robotPose)
static edu.wpi.first.math.geometry.Pose2d	getTargetPose(int pTagID)
static edu.wpi.first.math.geometry.Pose2d	getTargetPose(int pTagID, double pXOffsetM, double pYOffsetM)
static edu.wpi.first.math.geometry.Pose2d	getTargetPoseLeft(int pTagID)
static edu.wpi.first.math.geometry.Pose2d	getTargetPoseLeft(int pTagID, boolean swap)
static edu.wpi.first.math.geometry.Pose2d	getTargetPoseRight(int pTagID)
static edu.wpi.first.math.geometry.Pose2d	getTargetPoseRight(int pTagID, boolean swap)
static edu.wpi.first.wpilibj2.command.Command	setGoalCommand(edu.wpi.first.math.geometry.Pose2d goalPose)
static void	setSide(GoalPoseChooser.SIDE reefSide)
static edu.wpi.first.wpilibj2.command.Command	setSideCommand(GoalPoseChooser.SIDE reefSide)
static void	setSwapSides(boolean swap)
static edu.wpi.first.math.geometry.Rotation2d	turnFromReefOrigin(edu.wpi.first.math.geometry.Pose2d robotPose)
static edu.wpi.first.math.geometry.Rotation2d	turnFromReefOriginForHexagon(edu.wpi.first.math.geometry.Pose2d robotPose)
static void	updateSideStuff()

Methods inherited from class java.lang.Object

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

Field Details

kDistBetweenBranchesCenter

public static final double kDistBetweenBranchesCenter

kDistBetweenBranchesCenterWithAlgae

public static final double kDistBetweenBranchesCenterWithAlgae

kClawOffset

public static final double kClawOffset

Constructor Details

GoalPoseChooser

public GoalPoseChooser()

Method Details

getGoalPose

public static edu.wpi.first.math.geometry.Pose2d getGoalPose(GoalPoseChooser.CHOOSER_STRATEGY strategy,
 edu.wpi.first.math.geometry.Pose2d pose)

getReefHexagonalPose

public static edu.wpi.first.math.geometry.Pose2d getReefHexagonalPose(edu.wpi.first.math.geometry.Pose2d robotPose)

setSwapSides

public static void setSwapSides(boolean swap)

getTargetPoseLeft

public static edu.wpi.first.math.geometry.Pose2d getTargetPoseLeft(int pTagID,
 boolean swap)

getTargetPoseRight

public static edu.wpi.first.math.geometry.Pose2d getTargetPoseRight(int pTagID,
 boolean swap)

getTargetPoseLeft

public static edu.wpi.first.math.geometry.Pose2d getTargetPoseLeft(int pTagID)

getTargetPoseRight

public static edu.wpi.first.math.geometry.Pose2d getTargetPoseRight(int pTagID)

getTargetPose

public static edu.wpi.first.math.geometry.Pose2d getTargetPose(int pTagID)

getTargetPose

public static edu.wpi.first.math.geometry.Pose2d getTargetPose(int pTagID,
 double pXOffsetM,
 double pYOffsetM)

updateSideStuff

public static void updateSideStuff()

getIntakePose

public static edu.wpi.first.math.geometry.Pose2d getIntakePose(edu.wpi.first.math.geometry.Pose2d robotPose)

getNetPose

public static edu.wpi.first.math.geometry.Pose2d getNetPose(edu.wpi.first.math.geometry.Pose2d robotPose)

turnFromReefOriginForHexagon

public static edu.wpi.first.math.geometry.Rotation2d turnFromReefOriginForHexagon(edu.wpi.first.math.geometry.Pose2d robotPose)

turnFromReefOrigin

public static edu.wpi.first.math.geometry.Rotation2d turnFromReefOrigin(edu.wpi.first.math.geometry.Pose2d robotPose)

setGoalCommand

public static edu.wpi.first.wpilibj2.command.Command setGoalCommand(edu.wpi.first.math.geometry.Pose2d goalPose)

setSideCommand

public static edu.wpi.first.wpilibj2.command.Command setSideCommand(GoalPoseChooser.SIDE reefSide)

setSide

public static void setSide(GoalPoseChooser.SIDE reefSide)

getReefFace

public static StateTracker.ReefFace getReefFace()