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ask cad for location of hubs
rafaelbaird
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Jan 17, 2026
rafaelbaird
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Looks good in general. Minor errors only. I was looking into AdvantageKit's vision template, and I think we may want to implement vision their way instead, as it makes logging incredibly easy (also the way they set it up is just smart in general). We can transfer all the work you did over here to there, but keep both versions for now.
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| public static final int[] hubIDsRed = {2, 3, 4, 5, 8, 9, 10, 11}; | ||
| public static final int[] hubIDsBlue = {18, 19, 20, 21, 24, 25, 26, 27}; | ||
| public static final int[] reefIDs = {2, 3, 4, 5, 8, 9, 10, 11, 18, 19, 20, 21, 24, 25, 26, 27}; |
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reef ids? I think you meant to call this hubIDs.
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| /* CONSTANTS */ | ||
| public static final double hubCenterX = 4.6245018; | ||
| public static final double hubCenterY = 4.105; |
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I calculated this to be 4.034 meters both in Onshape and the field drawings. Where did 4.105 come from?
| Translation2d robotToHub = hubPose.getTranslation().minus(robotPose.getTranslation()); | ||
| return robotToHub.getAngle().getRotations(); | ||
| } | ||
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These two methods look good!
Went through and read every file to understand. They are doing a couple of things that are great: - better logging through io layers - logging is separate from class logic, makes everything a TON more readable - no stupid bullshit periodic code - one vision object with multiple cameras that can be anything (sim, limelight, limelight without interal imu) -
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This was squashed & merged by Rafael. |
BCODERW
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