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"translation": { + "x": 0.0136906, + "y": 1.0825734, + "z": 0.55245 + }, + "rotation": { + "quaternion": { + "W": 1.0, + "X": 0.0, + "Y": 0.0, + "Z": 0.0 + } + } + } + }, + { + "ID": 31, + "pose": { + "translation": { + "x": 0.0140462, + "y": 3.7301932, + "z": 0.55245 + }, + "rotation": { + "quaternion": { + "W": 1.0, + "X": 0.0, + "Y": 0.0, + "Z": 0.0 + } + } + } + }, + { + "ID": 32, + "pose": { + "translation": { + "x": 0.0140462, + "y": 4.1619931999999995, + "z": 0.55245 + }, + "rotation": { + "quaternion": { + "W": 1.0, + "X": 0.0, + "Y": 0.0, + "Z": 0.0 + } + } + } + } + ], + "field": { + "length": 16.518, + "width": 8.043 + } +} diff --git a/src/main/deploy/apriltags/2026-official.json b/src/main/deploy/apriltags/2026-rebuilt-welded.json similarity index 100% rename from src/main/deploy/apriltags/2026-official.json rename to src/main/deploy/apriltags/2026-rebuilt-welded.json diff --git a/src/main/deploy/apriltags/none-andymark.json b/src/main/deploy/apriltags/none-andymark.json new file mode 100644 index 00000000..318fdac6 --- /dev/null +++ b/src/main/deploy/apriltags/none-andymark.json @@ -0,0 +1,7 @@ +{ + "tags": [], + "field": { + "length": 16.518, + "width": 8.043 + } +} diff --git a/src/main/deploy/apriltags/none-welded.json b/src/main/deploy/apriltags/none-welded.json new file mode 100644 index 00000000..63337983 --- /dev/null +++ b/src/main/deploy/apriltags/none-welded.json @@ -0,0 +1,7 @@ +{ + "tags": [], + "field": { + "length": 16.541, + "width": 8.069 + } +} diff --git a/src/main/java/frc/robot/FieldConstants.java b/src/main/java/frc/robot/FieldConstants.java index 729b45fe..34c356df 100644 --- a/src/main/java/frc/robot/FieldConstants.java +++ b/src/main/java/frc/robot/FieldConstants.java @@ -36,25 +36,32 @@ */ public class FieldConstants { + /** Specify which type of field your robot is using */ + private static final AprilTagLayoutType fieldType = AprilTagLayoutType.REBUILT_WELDED; + /** AprilTag Field Layout ************************************************ */ public static final double aprilTagWidth = Inches.of(6.50).in(Meters); public static final String aprilTagFamily = "36h11"; - public static final double fieldLength = AprilTagLayoutType.OFFICIAL.getLayout().getFieldLength(); - public static final double fieldWidth = AprilTagLayoutType.OFFICIAL.getLayout().getFieldWidth(); + public static final double fieldLength = fieldType.getLayout().getFieldLength(); + public static final double fieldWidth = fieldType.getLayout().getFieldWidth(); - public static final int aprilTagCount = AprilTagLayoutType.OFFICIAL.getLayout().getTags().size(); - public static final AprilTagLayoutType defaultAprilTagType = AprilTagLayoutType.OFFICIAL; + public static final int aprilTagCount = fieldType.getLayout().getTags().size(); + public static final AprilTagLayoutType defaultAprilTagType = fieldType; public static final AprilTagFieldLayout aprilTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); @Getter public enum AprilTagLayoutType { - OFFICIAL("2026-official"), - NONE("2026-none"), - REEFSCAPE("2025-official"); + REBUILT_WELDED("2026-rebuilt-welded"), + REBUILT_ANDYMARK("2026-rebuilt-welded"), + REEFSCAPE_WELDED("2025-reefscape-welded"), + REEFSCAPE_ANDYMARK("2025-reefscape-andymark"), + CRESCENDO("2024-crescendo"), + NONE_WELDED("none-welded"), + NONE_ANDYMARK("none-andymark"); AprilTagLayoutType(String name) { try { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index c38f5781..9a5165d6 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -478,7 +478,8 @@ public void getAutonomousCommandChoreo() { /** Updates the alerts. */ public void updateAlerts() { // AprilTag layout alert - boolean aprilTagAlertActive = Constants.getAprilTagLayoutType() != AprilTagLayoutType.OFFICIAL; + boolean aprilTagAlertActive = + Constants.getAprilTagLayoutType() != AprilTagLayoutType.REBUILT_WELDED; aprilTagLayoutAlert.set(aprilTagAlertActive); if (aprilTagAlertActive) { aprilTagLayoutAlert.setText(