Team_2648/2026-Robot-Code
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A bunch of changes, mostly related to shooting balls at the hub dynamically, still need a means of doing this based on a single apriltag, in the event the robot pose is unreliable

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Bradley Bickford
2026-02-12 16:02:08 -05:00
parent f8429dc899
commit 91a5281202
12 changed files with 181 additions and 135 deletions
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6
src/main/java/frc/robot/constants/CompetitionConstants.java
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@@ -4,6 +4,7 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.util.Units;
public class CompetitionConstants {
@@ -14,6 +15,11 @@ public class CompetitionConstants {
AprilTagFields.kDefaultField
);
public static final double kHubGoalHeightMeters = Units.inchesToMeters(72);
// TODO Real Values
public static final Transform3d KRobotToShooter = new Transform3d();
public static final Pose2d kBlueHubLocation = new Pose2d(
Units.inchesToMeters(182.11),
Units.inchesToMeters(158.84),