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delete april tag positions array #83

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merged 6 commits into from
Dec 2, 2024
Merged

delete april tag positions array #83

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ed23f52
add comment command
Ishan1522 Nov 21, 2024
269e59f
Merge branch 'main' of https://github.com/TitaniumTigers4829/offseaso…
Ishan1522 Nov 30, 2024
05e53b8
yowzers
Ishan1522 Nov 30, 2024
d2138bd
Formatting fixes
github-actions[bot] Nov 30, 2024
c121c21
add constants
Ishan1522 Dec 1, 2024
8632be5
Formatting fixes
github-actions[bot] Dec 1, 2024
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49 changes: 2 additions & 47 deletions src/main/java/frc/robot/subsystems/vision/VisionConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -24,53 +24,8 @@ public final class VisionConstants {
public static final String FRONT_RIGHT_LIMELIGHT_NAME = "limelight-right";
public static final int FRONT_RIGHT_LIMELIGHT_NUMBER = 2;

public static final double[][] APRIL_TAG_POSITIONS = {
// {x, y, z, rotation (degrees)}
{
Units.inchesToMeters(593.68), Units.inchesToMeters(9.68), Units.inchesToMeters(53.38), 120
}, // 1
{
Units.inchesToMeters(637.21), Units.inchesToMeters(34.79), Units.inchesToMeters(53.38), 120
}, // 2
{
Units.inchesToMeters(652.73), Units.inchesToMeters(196.17), Units.inchesToMeters(57.13), 180
}, // 3
{
Units.inchesToMeters(652.73), Units.inchesToMeters(218.42), Units.inchesToMeters(57.13), 180
}, // 4
{
Units.inchesToMeters(578.77), Units.inchesToMeters(323.0), Units.inchesToMeters(53.38), 270
}, // 5
{
Units.inchesToMeters(72.5), Units.inchesToMeters(323.0), Units.inchesToMeters(53.38), 270
}, // 6
{-Units.inchesToMeters(1.5), Units.inchesToMeters(218.42), Units.inchesToMeters(57.13), 0}, // 7
{-Units.inchesToMeters(1.5), Units.inchesToMeters(196.17), Units.inchesToMeters(57.13), 0}, // 8
{
Units.inchesToMeters(14.02), Units.inchesToMeters(34.79), Units.inchesToMeters(53.38), 60
}, // 9
{
Units.inchesToMeters(57.54), Units.inchesToMeters(9.68), Units.inchesToMeters(53.38), 60
}, // 10
{
Units.inchesToMeters(468.69), Units.inchesToMeters(146.19), Units.inchesToMeters(52.0), 300
}, // 11
{
Units.inchesToMeters(468.69), Units.inchesToMeters(177.1), Units.inchesToMeters(52.0), 60
}, // 12
{
Units.inchesToMeters(441.74), Units.inchesToMeters(161.62), Units.inchesToMeters(52.0), 180
}, // 13
{
Units.inchesToMeters(209.48), Units.inchesToMeters(161.62), Units.inchesToMeters(52.0), 0
}, // 14
{
Units.inchesToMeters(182.73), Units.inchesToMeters(177.1), Units.inchesToMeters(52.0), 120
}, // 15
{
Units.inchesToMeters(182.73), Units.inchesToMeters(146.19), Units.inchesToMeters(52.0), 240
}, // 16
};
public static final int MIN_APRIL_TAG_ID = 1;
public static final int MAX_APRIL_TAG_ID = 16;

public static final double[][] ONE_APRIL_TAG_LOOKUP_TABLE = {
// {distance in meters, x std deviation, y std deviation, r (in degrees) std deviation}
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/vision/VisionIOReal.java
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Original file line number Diff line number Diff line change
Expand Up @@ -71,8 +71,8 @@ public void updateInputs(VisionIOInputs inputs) {
public boolean canSeeAprilTags(int limelightNumber) {
// First checks if it can see an april tag, then checks if it is fully in frame
// Different Limelights have different FOVs
if (getNumberOfAprilTags(limelightNumber) > 0
&& getNumberOfAprilTags(limelightNumber) <= VisionConstants.APRIL_TAG_POSITIONS.length) {
if (getNumberOfAprilTags(limelightNumber) >= VisionConstants.MIN_APRIL_TAG_ID
&& getNumberOfAprilTags(limelightNumber) <= VisionConstants.MAX_APRIL_TAG_ID) {
if (getLimelightName(limelightNumber).equals(VisionConstants.SHOOTER_LIMELIGHT_NAME)) {
return Math.abs(LimelightHelpers.getTX(getLimelightName(limelightNumber)))
<= VisionConstants.LL3G_FOV_MARGIN_OF_ERROR;
Expand Down
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