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Updated vision code for 2022

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aarav18
2022-03-05 11:29:40 -07:00
parent 71e082e7bd
commit 46bda7913f
8 changed files with 403 additions and 15 deletions
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src/main/java/frc4388/robot/Constants.java
+19 -5
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@@ -175,11 +175,25 @@ public final class Constants {
}
public static final class VisionConstants {
public static final double TURN_P_VALUE = 0.8;
public static final double X_ANGLE_ERROR = 0.5;
public static final double GRAV = 385.83;
public static final double TARGET_HEIGHT = 67.5;
public static final double FOV = 29.8; //Field of view limelight
// public static final double TURN_P_VALUE = 0.8;
// public static final double X_ANGLE_ERROR = 0.5;
// public static final double GRAV = 385.83;
// public static final double TARGET_HEIGHT = 67.5;
// public static final double FOV = 29.8; //Field of view limelight
public static final double LIME_ANGLE = 24.7;
public static final String NAME = "photonCamera";
public static final double TARGET_HEIGHT = 8*12 + 8; // Convert to metric
public static final double TARGET_RADIUS = 4*12; // Convert to metric
public static final double H_FOV = 59.6;
public static final double V_FOV = 49.7;
public static final double LIME_VIXELS = 960;
public static final double LIME_HIXELS = 720;
public static final double RANGE = 10;
public static final double LIMELIGHT_RADIUS = 1.d;
public static final double SHOOTER_CORRECTION = 1.d;
}
}