Package frc.robot.systems.vision

Class VisionConstants

java.lang.Object

frc.robot.systems.vision.VisionConstants

public class VisionConstants
extends Object

EXTREMELY IMPORTANT NOTE: The FrontLeft FrontRight, BackLeft, BackRight naming scheme is all relative to the scoring side being the front of the bot (the side where the coral is scored on the reef)

Map of camera positions relative to the robot's center.

- **Translation3d (X, Y, Z)**: - X: Forward (+) / Backward (-) relative to the center of the bot - Y: Left (+) / Right (-) relative to the center of the bot - Z: Up (+) / Down (-) relative to the ground, most likely wont be inside the ground

- **Rotation3d (Roll, Pitch, Yaw)**: - Roll (X-axis rotation): Side tilt (it will prolly be 0 unless we do some crazy stuff) - Pitch (Y-axis rotation): Camera looking up/down (Negative = up, positive = down) - Yaw (Z-axis rotation): Camera turning left/right. Imagine a birds eye view of the bot, 0deg is north, 90 is west, -90 is east, and 180 is south

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	VisionConstants.Orientation

Field Summary

Fields

Modifier and Type	Field	Description
static final double	kAmbiguityThreshold
static final String	kLeftCamName
static final VisionConstants.Orientation	kLeftCamOrientation
static final edu.wpi.first.math.geometry.Transform3d	kLeftCamTransform
static final edu.wpi.first.math.Vector<edu.wpi.first.math.numbers.N3>	kMultiStdDevs
static final edu.wpi.first.math.geometry.Rotation2d	kOV2311DiagonalCameraFOV
static final String	kRightCamName
static final VisionConstants.Orientation	kRightCamOrientation
static final edu.wpi.first.math.geometry.Transform3d	kRightCamTransform
static final edu.wpi.first.math.Vector<edu.wpi.first.math.numbers.N3>	kSingleStdDevs
static final boolean	KUseSingleTagTransform

Constructor Summary

Constructors

Constructor	Description
VisionConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

kLeftCamName

public static final String kLeftCamName

See Also:

• Constant Field Values

kLeftCamOrientation

public static final VisionConstants.Orientation kLeftCamOrientation

kLeftCamTransform

public static final edu.wpi.first.math.geometry.Transform3d kLeftCamTransform

kRightCamName

public static final String kRightCamName

See Also:

• Constant Field Values

kRightCamOrientation

public static final VisionConstants.Orientation kRightCamOrientation

kRightCamTransform

public static final edu.wpi.first.math.geometry.Transform3d kRightCamTransform

KUseSingleTagTransform

public static final boolean KUseSingleTagTransform

See Also:

• Constant Field Values

kSingleStdDevs

public static final edu.wpi.first.math.Vector<edu.wpi.first.math.numbers.N3> kSingleStdDevs

kMultiStdDevs

public static final edu.wpi.first.math.Vector<edu.wpi.first.math.numbers.N3> kMultiStdDevs

kAmbiguityThreshold

public static final double kAmbiguityThreshold

kOV2311DiagonalCameraFOV

public static final edu.wpi.first.math.geometry.Rotation2d kOV2311DiagonalCameraFOV

Constructor Details

VisionConstants

public VisionConstants()