From b09a6d6a2d159ff05b26371ebbc3763ade473f9c Mon Sep 17 00:00:00 2001
From: drew-struensee <55564500+1337-haxxor@users.noreply.github.com>
Date: Thu, 20 Jan 2022 21:36:54 -0600
Subject: [PATCH] Added Support for 3D tracking of the 2022 Cargo Balls (#408)

* added cargo ball 2022

* added cargoball2022. tested on pi.. it works

* spotlessapply

* made list more consistant
---
 .../src/views/PipelineViews/PnPTab.vue        |  2 +-
 .../vision/target/TargetModel.java            | 19 +++++++++++++++++++
 2 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/photon-client/src/views/PipelineViews/PnPTab.vue b/photon-client/src/views/PipelineViews/PnPTab.vue
index 629e853de..f888e018c 100644
--- a/photon-client/src/views/PipelineViews/PnPTab.vue
+++ b/photon-client/src/views/PipelineViews/PnPTab.vue
@@ -60,7 +60,7 @@
         },
         data() {
             return {
-                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)', '2016 High Goal'], //Keep in sync with TargetModel.java
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal'], //Keep in sync with TargetModel.java
                 snackbar: {
                     color: "Success",
                     text: ""
diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java b/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
index 7b0ac40df..205488afd 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
@@ -73,6 +73,25 @@ public enum TargetModel implements Releasable {
                             -Units.inchesToMeters(7) / 2,
                             -Units.inchesToMeters(7) / 2)),
             0),
+    k2022CircularCargoBall(
+            List.of(
+                    new Point3(
+                            -Units.inchesToMeters(9.5) / 2,
+                            -Units.inchesToMeters(9.5) / 2,
+                            -Units.inchesToMeters(9.5) / 2),
+                    new Point3(
+                            -Units.inchesToMeters(9.5) / 2,
+                            Units.inchesToMeters(9.5) / 2,
+                            -Units.inchesToMeters(9.5) / 2),
+                    new Point3(
+                            Units.inchesToMeters(9.5) / 2,
+                            Units.inchesToMeters(9.5) / 2,
+                            -Units.inchesToMeters(9.5) / 2),
+                    new Point3(
+                            Units.inchesToMeters(9.5) / 2,
+                            -Units.inchesToMeters(9.5) / 2,
+                            -Units.inchesToMeters(9.5) / 2)),
+            0),
     k2016HighGoal(
             List.of(
                     new Point3(Units.inchesToMeters(-10), Units.inchesToMeters(12), 0),