* Container class for vision constants.
*/
public class VisionConstants {
- /**
- * If April tag vision is enabled on the robot
- */
- public static final boolean ENABLED = true;
-
- /**
- * If object detection should be enabled
- */
- public static final boolean OBJECT_DETECTION_ENABLED = false;
-
- /** If odometry should be updated using vision during auto */
- public static final boolean ENABLED_AUTO = true;
-
- /**
- * If odometry should be updated using vision while running the GoToPose,
- * GoToPosePID, and DriveToPose commands in teleop
- */
- public static final boolean ENABLED_GO_TO_POSE = true;
-
- /** If vision should be simulated */
- public static final boolean ENABLED_SIM = false;
-
- /** If vision should only return values if it can see 2 good targets */
- public static final boolean ONLY_USE_2_TAGS = false;
-
- /** PoseStrategy to use in pose estimation */
- public static final PoseStrategy POSE_STRATEGY = PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR;
-
- /** Fallback PoseStrategy if MultiTag doesn't work */
- public static final PoseStrategy MULTITAG_FALLBACK_STRATEGY = PoseStrategy.LOWEST_AMBIGUITY;
-
- /**
- * Any April tags we always want to ignore. To ignore a tag, put its id in this
- * array.
- */
- public static final int[] TAGS_TO_IGNORE = {};
-
- /**
- * If multiple cameras return different poses, they will be ignored if the
- * difference between them is greater than this
- */
- public static final double MAX_POSE_DIFFERENCE = 0.2;
-
- /**
- * The maximum distance to the tag to use
- */
- public static final double MAX_DISTANCE = 2;
-
- /** If vision should use manual calculations */
- public static final boolean USE_MANUAL_CALCULATIONS = true;
-
- // <ol start="0"> did not work
- /**
- * Which version of driver assist to use. This would be an enum, except there is
- * no short and descriptive name for all of these.
- * <p>
- * The options are:
- * <p>
- * 0: Disable driver assist
- * <p>
- * 1: Completely remove the component of the driver's input that is not toward
- * the object
- * <p>
- * 2: Interpolate between the next achievable driver speed and a speed
- * calculated using trapezoid profiles
- * <p>
- * 3-5: Add a speed perpendicular to the driver input; there are 3 similar but
- * different calculations for this
- */
- public static final int DRIVER_ASSIST_MODE = 5;
-
- /**
- * The number to multiply the distance to the April tag by.
- * <p>
- * Only affects manual calculations.
- * <p>
- * To find this, set it to 1 and measure the actual distance and the calculated
- * distance.
- * <p>
- * This should not be needed, and it is only here because it improved the
- * accuracy of vision in the 2023 fall semester
- */
- public static final double DISTANCE_SCALE = 1;
-
- /**
- * The standard deviations to use for vision
- */
- public static final Matrix<N3, N1> VISION_STD_DEVS = VecBuilder.fill(
- 0.3, // x in meters (default=0.9)
- 0.3, // y in meters (default=0.9)
- 0.9 // heading in radians. The gyroscope is very accurate, so as long as it is reset
- // correctly it is unnecessary to correct it with vision
- );
-
- /**
- * The standard deviations to use for vision when the wheels slip
- */
- public static final Matrix<N3, N1> VISION_STD_DEVS_2 = VecBuilder.fill(
- 0.01, // x in meters (default=0.9)
- 0.01, // y in meters (default=0.9)
- 0.9 // heading in radians. The gyroscope is very accurate, so as long as it is reset
- // correctly it is unnecessary to correct it with vision
- );
-
- /**
- * The highest ambiguity to use. Ambiguities higher than this will be ignored.
- * <p>
- * Only affects calculations using PhotonVision, not manual calculations.
- */
- public static final double HIGHEST_AMBIGUITY = 0.01;
-
- public static final int MAX_EMPTY_TICKS = 10;
+ /**
+ * If April tag vision is enabled on the robot
+ */
+ public static final boolean ENABLED = true;
+
+ /**
+ * If object detection should be enabled
+ */
+ public static final boolean OBJECT_DETECTION_ENABLED = false;
+
+ /** If odometry should be updated using vision during auto */
+ public static final boolean ENABLED_AUTO = true;
+
+ /**
+ * If odometry should be updated using vision while running the GoToPose,
+ * GoToPosePID, and DriveToPose commands in teleop
+ */
+ public static final boolean ENABLED_GO_TO_POSE = true;
+
+ /** If vision should be simulated */
+ public static final boolean ENABLED_SIM = false;
+
+ /** If vision should only return values if it can see 2 good targets */
+ public static final boolean ONLY_USE_2_TAGS = false;
+
+ /** PoseStrategy to use in pose estimation */
+ public static final PoseStrategy POSE_STRATEGY = PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR;
+
+ /** Fallback PoseStrategy if MultiTag doesn't work */
+ public static final PoseStrategy MULTITAG_FALLBACK_STRATEGY = PoseStrategy.LOWEST_AMBIGUITY;
+
+ /**
+ * Any April tags we always want to ignore. To ignore a tag, put its id in this
+ * array.
+ */
+ public static final int[] TAGS_TO_IGNORE = {};
+
+ /**
+ * If multiple cameras return different poses, they will be ignored if the
+ * difference between them is greater than this
+ */
+ public static final double MAX_POSE_DIFFERENCE = 0.2;
+
+ /**
+ * The maximum distance to the tag to use
+ */
+ public static final double MAX_DISTANCE = 6;
+
+ /** If vision should use manual calculations */
+ public static final boolean USE_MANUAL_CALCULATIONS = true;
+
+
// <ol start="0"> did not work
+ /**
+ * Which version of driver assist to use. This would be an enum, except there is
+ * no short and descriptive name for all of these.
+ * The options are:
+ * 0: Disable driver assist
+ * 1: Completely remove the component of the driver's input that is not toward
+ * the object
+ * 2: Interpolate between the next achievable driver speed and a speed
+ * calculated using trapezoid profiles
+ * 3-5: Add a speed perpendicular to the driver input; there are 3 similar but
+ * different calculations for this
+ */
+ public static final int DRIVER_ASSIST_MODE = 5;
+
+ /**
+ * The number to multiply the distance to the April tag by.
+ * Only affects manual calculations.
+ * To find this, set it to 1 and measure the actual distance and the calculated
+ * distance.
+ * This should not be needed, and it is only here because it improved the
+ * accuracy of vision in the 2023 fall semester
+ */
+ public static final double DISTANCE_SCALE = 1;
+
+ /**
+ * The standard deviations to use for vision
+ */
+ public static final Matrix<N3, N1> VISION_STD_DEVS = VecBuilder.fill(
+ 0.3, // x in meters (default=0.9)
+ 0.3, // y in meters (default=0.9)
+ 0.9 // heading in radians. The gyroscope is very accurate, so as long as it is reset
+ // correctly it is unnecessary to correct it with vision
+ );
+
+ /**
+ * The standard deviations to use for vision when the wheels slip
+ */
+ public static final Matrix<N3, N1> VISION_STD_DEVS_2 = VecBuilder.fill(
+ 0.01, // x in meters (default=0.9)
+ 0.01, // y in meters (default=0.9)
+ 0.9 // heading in radians. The gyroscope is very accurate, so as long as it is reset
+ // correctly it is unnecessary to correct it with vision
+ );
+
+ /**
+ * The highest ambiguity to use. Ambiguities higher than this will be ignored.
+ * Only affects calculations using PhotonVision, not manual calculations.
+ */
+ public static final double HIGHEST_AMBIGUITY = 0.05;
+
+ public static final int MAX_EMPTY_TICKS = 10;
/**
* The camera poses
public static final ArrayList<Pair<String, Transform3d>> APRIL_TAG_CAMERAS = new ArrayList<Pair<String, Transform3d>>(
List.of(
new Pair<String, Transform3d>(
- "CameraFront",
+ "CameraFrontLeft",
new Transform3d(
new Translation3d(Units.inchesToMeters(10.485), Units.inchesToMeters(10.217),
Units.inchesToMeters(11.012)),
new Rotation3d(0, Units.degreesToRadians(-11),
Math.PI/2 + Units.degreesToRadians(20)))),
new Pair<String, Transform3d>(
- "CameraBack",
+ "CameraFrontRight",
+ new Transform3d(
+ new Translation3d(Units.inchesToMeters(-9.538), Units.inchesToMeters(7.474),
+ Units.inchesToMeters(8.719)),
+ new Rotation3d(0, Units.degreesToRadians(-19.5),
+ Math.PI/2-Units.degreesToRadians(25)))),
+ new Pair<String, Transform3d>(
+ "CameraBackLeft",
new Transform3d(
new Translation3d(Units.inchesToMeters(-9.538), Units.inchesToMeters(7.474),
Units.inchesToMeters(8.719)),
new Rotation3d(0, Units.degreesToRadians(-19.5),
- Math.PI/2-Units.degreesToRadians(25))))));
+ Math.PI/2-Units.degreesToRadians(25)))),
+ new Pair<String, Transform3d>(
+ "CameraBackRight",
+ new Transform3d(
+ new Translation3d(Units.inchesToMeters(-9.538), Units.inchesToMeters(7.474),
+ Units.inchesToMeters(8.719)),
+ new Rotation3d(0, Units.degreesToRadians(-19.5),
+ Math.PI/2-Units.degreesToRadians(25))))
+ ));
- /**
- * The transformations from the robot to object detection cameras
- */
- public static final ArrayList<Transform3d> OBJECT_DETECTION_CAMERAS = new ArrayList<>(List.of(
- new Transform3d(
- new Translation3d(Units.inchesToMeters(10), 0, Units.inchesToMeters(24)),
- new Rotation3d(0, Units.degreesToRadians(20), 0))));
-
- // used to cleanly shutdown the OrangePi
- public static final String[] ORANGEPI_HOSTNAMES = {"photonfront.local", "photonback.local"};
- public static final String ORANGEPI_USERNAME = "pi";
- public static final String ORANGEPI_PASSWORD = "raspberry";
+ /**
+ * The transformations from the robot to object detection cameras
+ */
+ public static final ArrayList<Transform3d> OBJECT_DETECTION_CAMERAS = new ArrayList<>(List.of(
+ new Transform3d(
+ new Translation3d(Units.inchesToMeters(10), 0, Units.inchesToMeters(24)),
+ new Rotation3d(0, Units.degreesToRadians(20), 0))));
+
+ // used to cleanly shutdown the OrangePi
+ public static final String[] ORANGEPI_HOSTNAMES = { "photonfront.local", "photonback.local" };
+ public static final String ORANGEPI_USERNAME = "pi";
+ public static final String ORANGEPI_PASSWORD = "raspberry";
}