Package org.team1126.robot.util

Class Field

java.lang.Object
org.team1126.robot.util.Field
public final class Field extends Object
Field locations and utilities.

  • Field Details

    • PIVOT_X

      public static final double PIVOT_X
      X location of pivot point, relative to blue, right.

    • PIVOT_Y

      public static final double PIVOT_Y
      Y location of pivot point, relative to blue, right.

    • pivot

      public static final ExtPose pivot
      Inline with the trench (to pass through), so facing opposite of april tag.

    • DEPOT_X

      public static final double DEPOT_X

    • DEPOT_Y

      public static final double DEPOT_Y

    • DEPOT_ROT

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

    • X_CENTER

      public static final double X_CENTER
      The center of the field over its length (X direction). Also the CENTER LINE.

    • Y_CENTER

      public static final double Y_CENTER
      The center of the field over its width (Y direction).

    • FIELD_CENTER_Y

      public static final double FIELD_CENTER_Y
      HUB Center Y Coordinate

    • HUB_WIDTH

      public static final double HUB_WIDTH
      The width of the hub as indicated on field maps.

    • BLUE_ZONE

      public static final double BLUE_ZONE
      The X coordinate of the edge of the blue ALLIANCE ZONE.

    • RED_ZONE

      public static final double RED_ZONE
      The X coordinate of the edge of the red ALLIANCE ZONE.

    • HUB_CENTER_Y

      public static final double HUB_CENTER_Y
      AT26 Y point is the center Y for the hub.

    • HUB_CENTER_X

      public static final double HUB_CENTER_X
      Center X of the hub is half way between AT26 and AT20.

    • HUB

      public static final ExtTranslation HUB
      Picking the center of the hub as the hub's location, for the purpose of aiming.

    • BARRIER_HALF_WIDTH

      public static final double BARRIER_HALF_WIDTH
      Magic number (108.5") based on the measurement from the diagrams.

    • BARRIER_LEFT_Y

      public static final double BARRIER_LEFT_Y
      LEFT Y coordinate of the barrier.

    • BARRIER_RIGHT_Y

      public static final double BARRIER_RIGHT_Y
      RIGHT Y coordinate of the barrier.

    • BARRIER_NEAR_X

      public static final double BARRIER_NEAR_X
      NEAR X coordinate of the barrier.

    • BARRIER_FAR_X

      public static final double BARRIER_FAR_X
      FAR X coordinate of the barrier.

    • BARRIER_NEAR_LEFT_CORNER

      public static final ExtTranslation BARRIER_NEAR_LEFT_CORNER
      The near left corner of the HUB, from the perspective of the DRIVER STATION.

    • BARRIER_NEAR_RIGHT_CORNER

      public static final ExtTranslation BARRIER_NEAR_RIGHT_CORNER
      The near right corner of the HUB, from the perspective of the DRIVER STATION.

    • BARRIER_FAR_LEFT_CORNER

      public static final ExtTranslation BARRIER_FAR_LEFT_CORNER
      The far left corner of the HUB, from the perspective of the DRIVER STATION.

    • BARRIER_FAR_RIGHT_CORNER

      public static final ExtTranslation BARRIER_FAR_RIGHT_CORNER
      The far right corner of the HUB, from the perspective of the DRIVER STATION.

    • TOWER_DEPTH

      public static final double TOWER_DEPTH
      Depth of the tower base from the end wall to the edge of the plate.

    • TOWER_HALF_WIDTH

      public static final double TOWER_HALF_WIDTH
      Half of the width of the tower base.

    • TOWER_DEPOT_Y

      public static final double TOWER_DEPOT_Y
      Y coordinate of the depot side of the tower.

    • TOWER_OUTPOST_Y

      public static final double TOWER_OUTPOST_Y
      Y coordinate of the outpost side of the tower.

    • TOWER_NEAR_X

      public static final double TOWER_NEAR_X
      X coordinate of the driver side wall for the tower base.

    • TOWER_FAR_X

      public static final double TOWER_FAR_X
      X coordinate of the far edge of the tower base.

    • TOWER_DEPOT_NEAR_CORNER

      public static final ExtTranslation TOWER_DEPOT_NEAR_CORNER

    • TOWER_DEPOT_FAR_CORNER

      public static final ExtTranslation TOWER_DEPOT_FAR_CORNER

    • TOWER_OUTPOST_NEAR_CORNER

      public static final ExtTranslation TOWER_OUTPOST_NEAR_CORNER

    • TOWER_OUTPOST_FAR_CORNER

      public static final ExtTranslation TOWER_OUTPOST_FAR_CORNER

    • OBSTACLES

      public static final PAPFController.Obstacle[] OBSTACLES
      Obstacles for the P-APF.