Package frc.rebuilt

Class Field

java.lang.Object

frc.rebuilt.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.BlueBumps
static class	Field.BlueDepot
static class	Field.BlueHub
static class	Field.BlueOutpost
static class	Field.BlueTower
static class	Field.BlueTrench
static class	Field.LeftBlueBump
static class	Field.LeftBlueTrench
static class	Field.RightBlueBump
static class	Field.RightBlueTrench

Field Summary

Fields

Modifier and Type	Field	Description
static final Trigger	blue
static final edu.wpi.first.math.geometry.Translation3d	blueHubCenter
static final edu.wpi.first.math.geometry.Translation2d	feedBlueLeft
static final edu.wpi.first.math.geometry.Translation2d	feedBlueRight
static final edu.wpi.first.math.geometry.Translation2d	feedRedLeft
static final edu.wpi.first.math.geometry.Translation2d	feedRedRight
static final double	fieldLength
static final double	fieldWidth
static final Trigger	red
static final edu.wpi.first.math.geometry.Translation3d	redHubCenter
static final double	startingLineX
static final double	tag26X

Constructor Summary

Constructors

Constructor	Description
Field()

Method Summary

Modifier and Type	Method	Description
static double	BlueToRed(double translation)
static edu.wpi.first.math.geometry.Translation2d	BlueToRed(edu.wpi.first.math.geometry.Translation2d translation)
static edu.wpi.first.math.geometry.Translation3d	BlueToRed(edu.wpi.first.math.geometry.Translation3d translation)
static double	getAprilTagWidth()
static edu.wpi.first.math.geometry.Translation3d	getBlueHubCenter()
static edu.wpi.first.math.geometry.Pose2d	getCenterField()
static double	getFieldLength()
static double	getFieldWidth()
static double	getHalfLength()
static double	getHalfWidth()
static edu.wpi.first.math.geometry.Translation3d	getRedHubCenter()
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

tag26X

public static final double tag26X

feedBlueLeft

public static final edu.wpi.first.math.geometry.Translation2d feedBlueLeft

feedBlueRight

public static final edu.wpi.first.math.geometry.Translation2d feedBlueRight

feedRedLeft

public static final edu.wpi.first.math.geometry.Translation2d feedRedLeft

feedRedRight

public static final edu.wpi.first.math.geometry.Translation2d feedRedRight

blueHubCenter

public static final edu.wpi.first.math.geometry.Translation3d blueHubCenter

redHubCenter

public static final edu.wpi.first.math.geometry.Translation3d redHubCenter

red

public static final Trigger red

blue

public static final Trigger blue

Constructor Details

Field

public Field()

Method Details

BlueToRed

public static edu.wpi.first.math.geometry.Translation3d BlueToRed(edu.wpi.first.math.geometry.Translation3d translation)

BlueToRed

public static edu.wpi.first.math.geometry.Translation2d BlueToRed(edu.wpi.first.math.geometry.Translation2d translation)

BlueToRed

public static double BlueToRed(double translation)

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()

getBlueHubCenter

public static edu.wpi.first.math.geometry.Translation3d getBlueHubCenter()

getRedHubCenter

public static edu.wpi.first.math.geometry.Translation3d getRedHubCenter()

getAprilTagWidth

public static double getAprilTagWidth()