Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Make auto goto position work, work on vision locaalization

Browse Source
This commit is contained in:
Michael Mikovsky
2025-01-10 21:36:30 -07:00
parent 76b53c95a7
commit 33629e9fdb
5 changed files with 172 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+5 -2
View File
@@ -31,6 +31,7 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
@@ -275,10 +276,12 @@ public final class Constants {
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
public static final class VisionConstants {
public static final class VisionConstants {
public static final String CAMERA_NAME = "Camera_Module_v1";
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(), new Rotation3d());
public static final Rotation2d ROTATE_BY = Rotation2d.fromDegrees(180);
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(.3048, .2413, .2794), new Rotation3d(0,0.52333,0));
public static final AprilTagFieldLayout kTagLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();