Package frc.robot

Class Constants.ApriltagConstants

java.lang.Object
frc.robot.Constants.ApriltagConstants
Enclosing class:
Constants
public static final class Constants.ApriltagConstants extends Object
Constants for apriltag vision.

  • Field Details

    • PHOTON_CAMERAS

      public static final PhotonConfig[] PHOTON_CAMERAS
      Photon cameras.

    • FIELD_LAYOUT

      public static final edu.wpi.first.apriltag.AprilTagFieldLayout FIELD_LAYOUT
      Field layout for apriltags.

    • MAXIMUM_AMBIGUITY

      public static final double MAXIMUM_AMBIGUITY
      Maximum allowed ambiguity for pose estimation (0-1, lower is better)
      See Also:

    • SINGLE_TAG_STD_DEVS

      public static final edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> SINGLE_TAG_STD_DEVS
      Standard deviations for single tag pose estimation

    • MULTI_TAG_STD_DEVS

      public static final edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> MULTI_TAG_STD_DEVS
      Standard deviations for multi-tag pose estimation

    • CAMERA_DEBOUNCE_TIME

      public static final double CAMERA_DEBOUNCE_TIME
      Debounce time for camera reads in seconds
      See Also:

    • SINGLE_TAG_CUTOFF_METER

      public static final double SINGLE_TAG_CUTOFF_METER
      BULLSHIT
      See Also:

    • MAX_CAMERA_RESULTS

      public static final int MAX_CAMERA_RESULTS
      Maximum number of camera results to keep in memory
      See Also:

    • NO_AMBIGUITY

      public static final int NO_AMBIGUITY
      Value indicating no ambiguity in pose estimation
      See Also:

  • Constructor Details

    • ApriltagConstants

      public ApriltagConstants()