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Added all 4 cameras

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This commit is contained in:
Team2890HawkCollective
2026-02-20 17:09:46 -05:00
parent a50d67d7f5
commit 178359341c
8 changed files with 657 additions and 655 deletions
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63
src/main/java/frc/robot/Constants.java
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@@ -4,11 +4,16 @@
package frc.robot;
import org.photonvision.PhotonCamera;
import org.photonvision.PhotonPoseEstimator;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.networktables.GenericEntry;
@@ -90,13 +95,6 @@ public final class Constants {
public static void getIndexerAndRampMotorRPM() {
INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(1000);
}
public static final int LEFT_ACTUATOR_PWM_PORT = 1;
public static final int RIGHT_ACTUATOR_PWM_PORT = 3;
public static double DESIRED_POTENTIOMETER_DISTANCE;
// TO DO: need to equation that calculates desired potentiometer distance
}
public static class IntakeConstants {
@@ -111,7 +109,7 @@ public final class Constants {
public static final int INTAKE_WHEELS_MOTOR_ID = 50;
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static final double INTAKE_COLLECT_ENCODER_VALUE = 4.1290459632873535;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = 2.2550222873687744;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = 1.2550222873687744;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
public static class IntakeRotatorPID {
@@ -131,34 +129,41 @@ public final class Constants {
}
public static class LimeLight {
public static final String LIMELIGHT_NAME = "limelight";
// public static final int[] ALL_REEF_APRILTAGS = { 6, 7, 8, 9, 10, 11, 17, 18,
// 19, 20, 21, 22 };
public static final AprilTagFieldLayout APRILTAG_FIELD_LAYOUT = AprilTagFieldLayout
.loadField(AprilTagFields.k2026RebuiltAndymark);
public static final double BUMPER_WIDTH = Units.inchesToMeters(0.0); // Get This Value // Original: 2.75
// public static final double ROBOT_WIDTH = Units.inchesToMeters(30 +
// BUMPER_WIDTH); // Tis a square, don't need this
public static final double ROBOT_SIDE_LENGTH = Units.inchesToMeters(27);
// public static final Transform2d HALF_ROBOT = new
// Transform2d(ROBOT_SIDE_LENGTH / 3.0, 0, new Rotation2d());
public static double LIMELIGHT_TY;
}
public static class TargetingConstants {
public static final Pose2d RIGHT_CLIMB_POSE = new Pose2d(1.075, 4.75, Rotation2d.fromDegrees(90));
public static final Pose2d LEFT_CLIMB_POSE = new Pose2d(1.075, 2.75, Rotation2d.fromDegrees(-90));
public static final PhotonCamera ORANGE_PHOTON_CAM = new PhotonCamera("Arducam_OV9281_USB_Camera");
public static final PhotonCamera BLACK_PHOTON_CAM = new PhotonCamera("Arducam_OV9281_USB_Camera");
public static final PhotonCamera RED_PHOTON_CAM = new PhotonCamera("Arducam_OV9281_USB_Camera");
public static final PhotonCamera PURPLE_PHOTON_CAM = new PhotonCamera("Arducam_OV9281_USB_Camera");
public static final Transform3d ORANGE_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
public static final Transform3d BLACK_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
public static final Transform3d RED_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
public static final Transform3d PURPLE_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
public static final PhotonPoseEstimator ORANGE_PHOTON_ESTIMATOR = new PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark),
ORANGE_ROBOT_TO_CAM);
public static final PhotonPoseEstimator BLACK_PHOTON_ESTIMATOR = new PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark),
BLACK_ROBOT_TO_CAM);
public static final PhotonPoseEstimator RED_PHOTON_ESTIMATOR = new PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark),
RED_ROBOT_TO_CAM);
public static final PhotonPoseEstimator PURPLE_PHOTON_ESTIMATOR = new PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark),
PURPLE_ROBOT_TO_CAM);
}
public static class ClimberConstants {
public static final int CLIMB_MOTOR_ID = 60;
public static final int RATCHET_PWM_PORT = 0;
public static final int RATCHET_PWM_PORT = 9;
public static final double RATCHET_UNLOCK_ANGLE = 0;
public static final double RATCHET_LOCK_ANGLE = 180;