Package frc.reefscape

Class Field

java.lang.Object

frc.reefscape.Field

public class Field
extends Object

Contains various field dimensions and useful reference points. All units are in meters and poses have a blue alliance origin.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Field.Barge
static class	Field.CoralStation
static class	Field.Processor
static class	Field.Reef
static enum	Field.ReefHeight
static class	Field.StagingPositions

Field Summary

Fields

Modifier and Type	Field	Description
static final Trigger	blue
static final double	fieldLength
static final double	fieldWidth
static final Trigger	red
static final double	startingLineX

Constructor Summary

Constructors

Constructor	Description
Field()

Method Summary

Modifier and Type	Method	Description
static double	getAprilTagWidth()
static edu.wpi.first.math.geometry.Pose2d	getCenterField()
static double	getFieldLength()
static double	getFieldWidth()
static double	getHalfLength()
static double	getHalfWidth()
static double	getStartingLineX()
static boolean	isBlue()	Returns true if the robot is on the blue alliance.
static boolean	isRed()	Returns true if the robot is on the red alliance.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

fieldLength

public static final double fieldLength

fieldWidth

public static final double fieldWidth

startingLineX

public static final double startingLineX

red

public static final Trigger red

blue

public static final Trigger blue

Constructor Details

Field

public Field()

Method Details

isBlue

public static boolean isBlue()

Returns true if the robot is on the blue alliance.

isRed

public static boolean isRed()

Returns true if the robot is on the red alliance.

getFieldLength

public static double getFieldLength()

getHalfLength

public static double getHalfLength()

getFieldWidth

public static double getFieldWidth()

getHalfWidth

public static double getHalfWidth()

getCenterField

public static edu.wpi.first.math.geometry.Pose2d getCenterField()

getStartingLineX

public static double getStartingLineX()

getAprilTagWidth

public static double getAprilTagWidth()