Package frc.robot.services.vision

Class VisionConstants

java.lang.Object

frc.robot.services.vision.VisionConstants

public class VisionConstants
extends Object

Hardware and tuning constants for the vision service.

Contains configurations for cameras, including their positions relative to the robot, field-of-view limits, and maximum detection ranges.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	VisionConstants.CameraConfig	Defines the physical and operational parameters of a camera.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	AMBIGUITY_CUTOFF	The maximum allowed ambiguity for a single-tag detection to be considered valid.
static final boolean	BROADCAST_HEADING	Whether or not to broadcast heading information.
static final Map<Integer,VisionConstants.CameraConfig>	CAMERA_MAP	Map of Camera ID to its configuration.
static final AprilTagFieldLayout	FIELD_LAYOUT	The AprilTag field layout representing the positions of tags on the current year's field.
static final Matrix<N3,N1>	MULTI_TAG_STD_DEVS	Standard deviations for vision measurements when multiple AprilTags are visible (higher confidence).
static final int	NO_AMBIGUITY	Sentinel value indicating that no ambiguity calculation is applicable (e.g., multi-tag).
static final Matrix<N3,N1>	NO_STD_DEVS	Standard deviations for vision measurements when the data is not valid or should be ignored.
static final Time	OFFLINE_TIMEOUT	Time in seconds before a camera is considered offline if no data is received.
static final int	SERVER_BPORT	Port for the native vision server to broadcast heading information.
static final int	SERVER_RPORT	Port for communication between Java and the native vision server.
static final Distance	SINGLE_TAG_POSE_CUTOFF	The maximum distance from the camera to a tag for a single-tag detection to be trusted.
static final Matrix<N3,N1>	SINGLE_TAG_STD_DEVS	Standard deviations for vision measurements when only one AprilTag is visible.
static final Matrix<N3,N1>	TAG_STD_DEVS	Standard deviations for vision measurements used for individual tag tracking.

Constructor Summary

Constructors

Constructor	Description
VisionConstants()

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

CAMERA_MAP

public static final Map<Integer,VisionConstants.CameraConfig> CAMERA_MAP

Map of Camera ID to its configuration. IDs should match those used in the native vision pipeline.

OFFLINE_TIMEOUT

public static final Time OFFLINE_TIMEOUT

Time in seconds before a camera is considered offline if no data is received.

SERVER_RPORT

public static final int SERVER_RPORT

Port for communication between Java and the native vision server.

See Also:

• Constant Field Values

SERVER_BPORT

public static final int SERVER_BPORT

Port for the native vision server to broadcast heading information.

See Also:

• Constant Field Values

NO_STD_DEVS

public static final Matrix<N3,N1> NO_STD_DEVS

Standard deviations for vision measurements when the data is not valid or should be ignored.

SINGLE_TAG_STD_DEVS

public static final Matrix<N3,N1> SINGLE_TAG_STD_DEVS

Standard deviations for vision measurements when only one AprilTag is visible.

MULTI_TAG_STD_DEVS

public static final Matrix<N3,N1> MULTI_TAG_STD_DEVS

Standard deviations for vision measurements when multiple AprilTags are visible (higher confidence).

TAG_STD_DEVS

public static final Matrix<N3,N1> TAG_STD_DEVS

Standard deviations for vision measurements used for individual tag tracking.

AMBIGUITY_CUTOFF

public static final double AMBIGUITY_CUTOFF

The maximum allowed ambiguity for a single-tag detection to be considered valid.

See Also:

• Constant Field Values

SINGLE_TAG_POSE_CUTOFF

public static final Distance SINGLE_TAG_POSE_CUTOFF

The maximum distance from the camera to a tag for a single-tag detection to be trusted.

NO_AMBIGUITY

public static final int NO_AMBIGUITY

Sentinel value indicating that no ambiguity calculation is applicable (e.g., multi-tag).

See Also:

• Constant Field Values

FIELD_LAYOUT

public static final AprilTagFieldLayout FIELD_LAYOUT

The AprilTag field layout representing the positions of tags on the current year's field.

BROADCAST_HEADING

public static final boolean BROADCAST_HEADING

Whether or not to broadcast heading information.

See Also:

• Constant Field Values

Constructor Details

VisionConstants

public VisionConstants()