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added to y offset to see better for calibration

fixed angles for cameras
This commit is contained in:
Zach Wilke
2025-10-10 18:51:29 -06:00
parent 9d3290a22d
commit ba0cfce577
2 changed files with 8 additions and 8 deletions
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src/main/java/frc4388/robot/constants/Constants.java
+3 -3
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@@ -76,7 +76,7 @@ public final class Constants {
// X is tangent to reef side
// Y is normal to reef side
public static final double X_SCORING_POSITION_OFFSET = Units.inchesToMeters(6.5+1); // This is from the field
public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1);
public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1 + 10);
public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18);
public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15 - 6);
@@ -114,8 +114,8 @@ public final class Constants {
public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 - 1), Units.inchesToMeters(8.75 + 4), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-21.0 * Math.PI / 180));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 -2), Units.inchesToMeters(-8.75 + 4), Units.inchesToMeters(9)), new Rotation3d(0,0.0,15.0 * Math.PI / 180));
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 - 1), Units.inchesToMeters(8.75 + 4), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-19.0 * Math.PI / 180));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3 -2), Units.inchesToMeters(-8.75 + 4), Units.inchesToMeters(9)), new Rotation3d(0,0.0,20.0 * Math.PI / 180));
public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters