From 2f7c2415a1a6b644c2364d928a563a71ced0fb27 Mon Sep 17 00:00:00 2001 From: Ace5tar Date: Mon, 27 Jan 2025 17:32:49 -0800 Subject: [PATCH] changed camera offset from robot to be more accurate, still needs better measuring befor comp --- src/main/java/frc/robot/Constants.java | 14 ++++---------- 1 file changed, 4 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a0aeecd..86099b4 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -154,25 +154,21 @@ public final class DoryCameras { public static final Transform3d frontLeftCamToRobot = new Transform3d( new Translation3d( - Units.inchesToMeters(11.32), - Units.inchesToMeters(7.08), - Units.inchesToMeters(7.8)), + Units.inchesToMeters(7), Units.inchesToMeters(11), Units.inchesToMeters(4)), new Rotation3d(Units.degreesToRadians(180), Units.degreesToRadians(-30), 0.0)); public static final String frontRightCamName = "front-right"; public static final Transform3d frontRightCamToRobot = new Transform3d( new Translation3d( - Units.inchesToMeters(8.25), Units.inchesToMeters(11), Units.inchesToMeters(7.8)), + Units.inchesToMeters(7), Units.inchesToMeters(-11), Units.inchesToMeters(4)), new Rotation3d(Units.degreesToRadians(180), Units.degreesToRadians(-30), 0.0)); public static final String backLeftCamName = "back-left"; public static final Transform3d backLeftCamToRobot = new Transform3d( new Translation3d( - Units.inchesToMeters(-12.01), - Units.inchesToMeters(11.65), - Units.inchesToMeters(10.58)), + Units.inchesToMeters(-11), Units.inchesToMeters(11.5), Units.inchesToMeters(6)), new Rotation3d( Units.degreesToRadians(180), Units.degreesToRadians(-23.5), @@ -182,9 +178,7 @@ public final class DoryCameras { public static final Transform3d backRightCamToRobot = new Transform3d( new Translation3d( - Units.inchesToMeters(-12.01), - Units.inchesToMeters(-11.65), - Units.inchesToMeters(10.58)), + Units.inchesToMeters(-11), Units.inchesToMeters(-11.5), Units.inchesToMeters(6)), new Rotation3d( Units.degreesToRadians(180), Units.degreesToRadians(-23.5),