Skip to content

Fix Poses (o-ωｑ)).oO #189

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 7 commits into
base: main
Choose a base branch
from
Open

Fix Poses (o-ωｑ)).oO #189

Changes from 1 commit
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
7ea8eb4
Update Field.java
Wu-Fan-529 Oct 17, 2025
3254b68
Update Constants.java
Wu-Fan-529 Oct 17, 2025
f2c4635
quick fix
Wu-Fan-529 Oct 18, 2025
1bfb030
Merge branch 'main' into pose-fixes
EliUva Oct 18, 2025
1a1a109
Merge branch 'main' into pose-fixes
EliUva Oct 18, 2025
3c562d7
10/18, 21:52
EliUva Oct 19, 2025
68643cf
Update Constants.java
EliUva Oct 21, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
49 changes: 31 additions & 18 deletions src/main/java/frc/robot/Field.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,18 +29,18 @@ public class Field {
private static class FieldElements {
private static final Pose2d REEF_CENTER = new Pose2d(4.5, 4.0, Rotation2d.kZero);
// Branch Poses
private static final Pose2d REEF_A = new Pose2d(3.171, 4.189, Rotation2d.kZero);
private static final Pose2d REEF_B = new Pose2d(3.171, 3.863, Rotation2d.kZero);
private static final Pose2d REEF_C = new Pose2d(3.688, 2.968, Rotation2d.fromDegrees(60));
private static final Pose2d REEF_D = new Pose2d(3.975, 2.803, Rotation2d.fromDegrees(60));
private static final Pose2d REEF_E = new Pose2d(5.001, 2.804, Rotation2d.fromDegrees(120));
private static final Pose2d REEF_F = new Pose2d(5.285, 2.964, Rotation2d.fromDegrees(120));
private static final Pose2d REEF_G = new Pose2d(5.805, 3.863, Rotation2d.k180deg);
private static final Pose2d REEF_H = new Pose2d(5.805, 4.189, Rotation2d.k180deg);
private static final Pose2d REEF_I = new Pose2d(5.288, 5.083, Rotation2d.fromDegrees(-120));
private static final Pose2d REEF_J = new Pose2d(5.002, 5.248, Rotation2d.fromDegrees(-120));
private static final Pose2d REEF_K = new Pose2d(3.972, 5.247, Rotation2d.fromDegrees(-60));
private static final Pose2d REEF_L = new Pose2d(3.693, 5.079, Rotation2d.fromDegrees(-60));
private static final Pose2d REEF_A = new Pose2d(3.206, 4.189, Rotation2d.kZero);
private static final Pose2d REEF_B = new Pose2d(3.206, 3.863, Rotation2d.kZero);
private static final Pose2d REEF_C = new Pose2d(3.715, 3.005, Rotation2d.fromDegrees(60));
private static final Pose2d REEF_D = new Pose2d(3.983, 2.846, Rotation2d.fromDegrees(60));
private static final Pose2d REEF_E = new Pose2d(4.971, 2.847, Rotation2d.fromDegrees(120));
private static final Pose2d REEF_F = new Pose2d(5.275, 3.017, Rotation2d.fromDegrees(120));
private static final Pose2d REEF_G = new Pose2d(5.775, 3.858, Rotation2d.k180deg);
private static final Pose2d REEF_H = new Pose2d(5.775, 4.199, Rotation2d.k180deg);
private static final Pose2d REEF_I = new Pose2d(5.263, 5.041, Rotation2d.fromDegrees(-120));
private static final Pose2d REEF_J = new Pose2d(5.007, 5.187, Rotation2d.fromDegrees(-120));
private static final Pose2d REEF_K = new Pose2d(3.995, 5.211, Rotation2d.fromDegrees(-60));
private static final Pose2d REEF_L = new Pose2d(3.712, 5.046, Rotation2d.fromDegrees(-60));

// L2 Backwards
private static final Pose2d REEF_A_L2_BACKWARDS = new Pose2d(2.848, 4.189, Rotation2d.k180deg);
Expand All @@ -65,12 +65,25 @@ private static class FieldElements {
Rotation2d.fromDegrees(180));

// algae poses
private static final Pose2d ALGAE_AB = REEF_A.interpolate(REEF_B, 0.5);
private static final Pose2d ALGAE_CD = REEF_C.interpolate(REEF_D, 0.5);
private static final Pose2d ALGAE_EF = REEF_E.interpolate(REEF_F, 0.5);
private static final Pose2d ALGAE_GH = REEF_G.interpolate(REEF_H, 0.5);
private static final Pose2d ALGAE_IJ = REEF_I.interpolate(REEF_J, 0.5);
private static final Pose2d ALGAE_KL = REEF_K.interpolate(REEF_L, 0.5);
private static final Pose2d ALGAE_A = new Pose2d(3.171, 4.189, Rotation2d.kZero);
private static final Pose2d ALGAE_B = new Pose2d(3.171, 3.863, Rotation2d.kZero);
private static final Pose2d ALGAE_C = new Pose2d(3.688, 2.968, Rotation2d.fromDegrees(60));
private static final Pose2d ALGAE_D = new Pose2d(3.975, 2.803, Rotation2d.fromDegrees(60));
private static final Pose2d ALGAE_E = new Pose2d(5.001, 2.804, Rotation2d.fromDegrees(120));
private static final Pose2d ALGAE_F = new Pose2d(5.285, 2.964, Rotation2d.fromDegrees(120));
private static final Pose2d ALGAE_G = new Pose2d(5.805, 3.863, Rotation2d.k180deg);
private static final Pose2d ALGAE_H = new Pose2d(5.805, 4.189, Rotation2d.k180deg);
private static final Pose2d ALGAE_I = new Pose2d(5.288, 5.083, Rotation2d.fromDegrees(-120));
private static final Pose2d ALGAE_J = new Pose2d(5.002, 5.248, Rotation2d.fromDegrees(-120));
private static final Pose2d ALGAE_K = new Pose2d(3.972, 5.247, Rotation2d.fromDegrees(-60));
private static final Pose2d ALGAE_L = new Pose2d(3.693, 5.079, Rotation2d.fromDegrees(-60));

private static final Pose2d ALGAE_AB = ALGAE_A.interpolate(ALGAE_B, 0.5);
private static final Pose2d ALGAE_CD = ALGAE_C.interpolate(ALGAE_D, 0.5);
private static final Pose2d ALGAE_EF = ALGAE_E.interpolate(ALGAE_F, 0.5);
private static final Pose2d ALGAE_GH = ALGAE_G.interpolate(ALGAE_H, 0.5);
private static final Pose2d ALGAE_IJ = ALGAE_I.interpolate(ALGAE_J, 0.5);
private static final Pose2d ALGAE_KL = ALGAE_K.interpolate(ALGAE_L, 0.5);

// Coral Station
private static final Pose2d LEFT_CORAL_STATION_FAR = new Pose2d(1.64, 7.33, Rotation2d.fromDegrees(125));
Expand Down