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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| // Copyright 2021-2025 FRC 6328 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
| // This program is free software; you can redistribute it and/or | ||
| // modify it under the terms of the GNU General Public License | ||
| // version 3 as published by the Free Software Foundation or | ||
| // available in the root directory of this project. | ||
| // | ||
| // This program is distributed in the hope that it will be useful, | ||
| // but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| // GNU General Public License for more details. | ||
|
|
||
| package frc.robot; | ||
|
|
||
| import edu.wpi.first.wpilibj.RobotBase; | ||
|
|
||
| /** | ||
| * This class defines the runtime mode used by AdvantageKit. The mode is always "real" when running | ||
| * on a roboRIO. Change the value of "simMode" to switch between "sim" (physics sim) and "replay" | ||
| * (log replay from a file). | ||
| */ | ||
| public final class Constants { | ||
| public static final Mode simMode = Mode.SIM; | ||
| public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode; | ||
|
|
||
| public static enum Mode { | ||
| /** Running on a real robot. */ | ||
| REAL, | ||
|
|
||
| /** Running a physics simulator. */ | ||
| SIM, | ||
|
|
||
| /** Replaying from a log file. */ | ||
| REPLAY | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,215 @@ | ||
| // Copyright (c) 2025 FRC 6328 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
| // Use of this source code is governed by an MIT-style | ||
| // license that can be found in the LICENSE file at | ||
| // the root directory of this project. | ||
|
|
||
| package frc.robot; | ||
|
|
||
| import edu.wpi.first.math.geometry.*; | ||
| import edu.wpi.first.math.util.Units; | ||
| import java.util.ArrayList; | ||
| import java.util.HashMap; | ||
| import java.util.List; | ||
| import java.util.Map; | ||
|
|
||
| import org.littletonrobotics.junction.Logger; | ||
|
|
||
| /** | ||
| * Contains various field dimensions and useful reference points. All units are in meters and poses | ||
| * have a blue alliance origin. | ||
| */ | ||
| public class FieldConstants { | ||
| public static final double fieldLength = Units.inchesToMeters(690.876); | ||
| public static final double fieldWidth = Units.inchesToMeters(317); | ||
| public static final double startingLineX = | ||
| Units.inchesToMeters(299.438); // Measured from the inside of starting line | ||
|
|
||
| public static class Processor { | ||
| public static final Pose2d centerFace = | ||
| new Pose2d(Units.inchesToMeters(235.726), 0, Rotation2d.fromDegrees(90)); | ||
| } | ||
|
|
||
| public static class Barge { | ||
| public static final Translation2d farCage = | ||
| new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(286.779)); | ||
| public static final Translation2d middleCage = | ||
| new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(242.855)); | ||
| public static final Translation2d closeCage = | ||
| new Translation2d(Units.inchesToMeters(345.428), Units.inchesToMeters(199.947)); | ||
|
|
||
| // Measured from floor to bottom of cage | ||
| public static final double deepHeight = Units.inchesToMeters(3.125); | ||
| public static final double shallowHeight = Units.inchesToMeters(30.125); | ||
| } | ||
|
|
||
| public static class CoralStation { | ||
| public static final Pose2d leftCenterFace = | ||
| new Pose2d( | ||
| Units.inchesToMeters(33.526), | ||
| Units.inchesToMeters(291.176), | ||
| Rotation2d.fromDegrees(90 - 144.011)); | ||
| public static final Pose2d rightCenterFace = | ||
| new Pose2d( | ||
| Units.inchesToMeters(33.526), | ||
| Units.inchesToMeters(25.824), | ||
| Rotation2d.fromDegrees(144.011 - 90)); | ||
| } | ||
|
|
||
| public static class Reef { | ||
| public static final Translation2d center = | ||
| new Translation2d(Units.inchesToMeters(176.746), Units.inchesToMeters(158.501)); | ||
| public static final double faceToZoneLine = | ||
| Units.inchesToMeters(12); // Side of the reef to the inside of the reef zone line | ||
|
|
||
| public static final Pose2d[] centerFaces = | ||
| new Pose2d[6]; // Starting facing the driver station in clockwise order | ||
| public static final List<Map<ReefHeight, Pose3d>> branchPositions = | ||
| new ArrayList<>(); // Starting at the right branch facing the driver station in clockwise | ||
|
|
||
| public static List<Pose2d> AlignPositions = new ArrayList<>(); | ||
|
|
||
| static { | ||
| // Initialize faces | ||
| centerFaces[0] = | ||
| new Pose2d( | ||
| Units.inchesToMeters(144.003), | ||
| Units.inchesToMeters(158.500), | ||
| Rotation2d.fromDegrees(180)); | ||
| centerFaces[1] = | ||
| new Pose2d( | ||
| Units.inchesToMeters(160.373), | ||
| Units.inchesToMeters(186.857), | ||
| Rotation2d.fromDegrees(120)); | ||
| centerFaces[2] = | ||
| new Pose2d( | ||
| Units.inchesToMeters(193.116), | ||
| Units.inchesToMeters(186.858), | ||
| Rotation2d.fromDegrees(60)); | ||
| centerFaces[3] = | ||
| new Pose2d( | ||
| Units.inchesToMeters(209.489), | ||
| Units.inchesToMeters(158.502), | ||
| Rotation2d.fromDegrees(0)); | ||
| centerFaces[4] = | ||
| new Pose2d( | ||
| Units.inchesToMeters(193.118), | ||
| Units.inchesToMeters(130.145), | ||
| Rotation2d.fromDegrees(-60)); | ||
| centerFaces[5] = | ||
| new Pose2d( | ||
| Units.inchesToMeters(160.375), | ||
| Units.inchesToMeters(130.144), | ||
| Rotation2d.fromDegrees(-120)); | ||
|
|
||
| // Initialize branch positions | ||
| for (int face = 0; face < 6; face++) { | ||
| Map<ReefHeight, Pose3d> fillRight = new HashMap<>(); | ||
| Map<ReefHeight, Pose3d> fillLeft = new HashMap<>(); | ||
| for (var level : ReefHeight.values()) { | ||
| Pose2d poseDirection = new Pose2d(center, Rotation2d.fromDegrees(180 - (60 * face))); | ||
| double adjustX = Units.inchesToMeters(30.738); | ||
| double adjustY = Units.inchesToMeters(6.469); | ||
|
|
||
| Pose3d rightBanch = new Pose3d( | ||
| new Translation3d( | ||
| poseDirection | ||
| .transformBy(new Transform2d(adjustX, adjustY, new Rotation2d())) | ||
| .getX(), | ||
| poseDirection | ||
| .transformBy(new Transform2d(adjustX, adjustY, new Rotation2d())) | ||
| .getY(), | ||
| level.height), | ||
| new Rotation3d( | ||
| 0, | ||
| Units.degreesToRadians(level.pitch), | ||
| poseDirection.getRotation().getRadians())); | ||
|
|
||
| Pose3d leftBranch = new Pose3d( | ||
| new Translation3d( | ||
| poseDirection | ||
| .transformBy(new Transform2d(adjustX, -adjustY, new Rotation2d())) | ||
| .getX(), | ||
| poseDirection | ||
| .transformBy(new Transform2d(adjustX, -adjustY, new Rotation2d())) | ||
| .getY(), | ||
| level.height), | ||
| new Rotation3d( | ||
| 0, | ||
| Units.degreesToRadians(level.pitch), | ||
| poseDirection.getRotation().getRadians())); | ||
|
|
||
|
|
||
| fillRight.put( | ||
| level, | ||
| rightBanch | ||
| ); | ||
| fillLeft.put( | ||
| level, | ||
| leftBranch | ||
| ); | ||
| } | ||
| branchPositions.add((face * 2) + 1, fillRight); | ||
| branchPositions.add((face * 2) + 2, fillLeft); | ||
| } | ||
|
|
||
|
|
||
| for (int face = 0; face < 6; face++) { | ||
| Pose2d poseDirection = new Pose2d(center, Rotation2d.fromDegrees(180 - (60 * face))); | ||
| double adjustX = Units.inchesToMeters(30.738); | ||
| double adjustY = Units.inchesToMeters(6.469); | ||
|
|
||
| Pose2d rightBanch = new Pose2d( | ||
| new Translation2d( | ||
| poseDirection | ||
| .transformBy(new Transform2d(adjustX, adjustY, new Rotation2d())) | ||
| .getX(), | ||
| poseDirection | ||
| .transformBy(new Transform2d(adjustX, adjustY, new Rotation2d())) | ||
| .getY()), | ||
| new Rotation2d( | ||
| poseDirection.getRotation().getRadians())); | ||
|
|
||
| Pose2d leftBranch = new Pose2d( | ||
| new Translation2d( | ||
| poseDirection | ||
| .transformBy(new Transform2d(adjustX, -adjustY, new Rotation2d())) | ||
| .getX(), | ||
| poseDirection | ||
| .transformBy(new Transform2d(adjustX, -adjustY, new Rotation2d())) | ||
| .getY()), | ||
| new Rotation2d( | ||
| poseDirection.getRotation().getRadians())); | ||
|
|
||
| AlignPositions.add(leftBranch); | ||
| AlignPositions.add(rightBanch); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| public static class StagingPositions { | ||
| // Measured from the center of the ice cream | ||
| public static final Pose2d leftIceCream = | ||
| new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(230.5), new Rotation2d()); | ||
| public static final Pose2d middleIceCream = | ||
| new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(158.5), new Rotation2d()); | ||
| public static final Pose2d rightIceCream = | ||
| new Pose2d(Units.inchesToMeters(48), Units.inchesToMeters(86.5), new Rotation2d()); | ||
| } | ||
|
|
||
| public enum ReefHeight { | ||
| L4(Units.inchesToMeters(72), -90), | ||
| L3(Units.inchesToMeters(47.625), -35), | ||
| L2(Units.inchesToMeters(31.875), -35), | ||
| L1(Units.inchesToMeters(18), 0); | ||
|
|
||
| ReefHeight(double height, double pitch) { | ||
| this.height = height; | ||
| this.pitch = pitch; // in degrees | ||
| } | ||
|
|
||
| public final double height; | ||
| public final double pitch; | ||
| } | ||
| } |
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@taj-maharj08 Nooo please keep using spotless. It allows us to use formatting rules defined in build.gradle which is better than defining rules in vscode. You just have to download the spotless vscode extension.