Merge branch 'main' of https://git.coldlightalchemist.com/Team_2648/2026-Robot-Code

src/main/java/frc/robot/Robot.java

@@ -22,11 +22,12 @@ public class Robot extends LoggedRobot {
 
   private final RobotContainer m_robotContainer;
 
+  @SuppressWarnings("resource")
   public Robot() {
     Logger.recordMetadata("ProjectName", "2026_Robot_Code");
 
     if(isReal()) {
-      if(CompetitionConstants.logToNetworkTables) {
+      if(CompetitionConstants.kLogToNetworkTables) {
         Logger.addDataReceiver(new NT4Publisher());
       }
       
@@ -41,7 +42,7 @@ public class Robot extends LoggedRobot {
     }
 
     Logger.start();
-    
+
     m_robotContainer = new RobotContainer();
   }
 

src/main/java/frc/robot/constants/CompetitionConstants.java

@@ -1,6 +1,13 @@
 package frc.robot.constants;
 
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+
 public class CompetitionConstants {
     // THIS SHOULD BE FALSE DURING COMPETITION PLAY
-    public static final boolean logToNetworkTables = true;
+    public static final boolean kLogToNetworkTables = true;
+
+    public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(
+        AprilTagFields.kDefaultField
+    );
 }

src/main/java/frc/robot/constants/OIConstants.java

@@ -0,0 +1,10 @@
+package frc.robot.constants;
+
+public class OIConstants {
+    public static final int kDriverControllerPort = 0;
+    public static final int kOperatorControllerPort = 1;
+    
+    public static final double kDriveDeadband = .01;
+
+    public static final double kJoystickExponential = 3;
+}

src/main/java/frc/robot/interfaces/IAprilTagProvider.java

@@ -17,10 +17,9 @@ public interface IAprilTagProvider {
      * A method to get the distance from <i>the camera</i> to the AprilTag specified
      * 
      * @param id The ID of the AprilTag to give a distance to
-     * @param targetHeightMeters The height of the AprilTag off the ground, in meters
      * @return The distance, in meters, to the target, or OptionalDouble.empty() if the tag is not present in the camera's view
      */
-    public OptionalDouble getTagDistanceFromCameraByID(int id, double targetHeightMeters);
+    public OptionalDouble getTagDistanceFromCameraByID(int id);
 
     /**
      * A method to get the pitch from the center of the image of a particular AprilTag

src/main/java/frc/robot/utilities/PhotonVision.java

@@ -13,10 +13,9 @@ import org.photonvision.PhotonUtils;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.util.Units;
+import frc.robot.constants.CompetitionConstants;
 import frc.robot.interfaces.IAprilTagProvider;
 import frc.robot.interfaces.IVisualPoseProvider;
 
@@ -35,9 +34,7 @@ public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
         camera = new PhotonCamera(cameraName);
 
         photonPoseEstimator = new PhotonPoseEstimator(
-            AprilTagFieldLayout.loadFromResource(
+            CompetitionConstants.kTagLayout, 
-                AprilTagFields.kDefaultField.m_resourceFile
-            ), 
             PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, 
             robotToCam
         );
@@ -78,7 +75,7 @@ public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
     }
 
     @Override
-    public OptionalDouble getTagDistanceFromCameraByID(int id, double targetHeightMeters) {
+    public OptionalDouble getTagDistanceFromCameraByID(int id) {
         if (latestResult == null) {
             return OptionalDouble.empty();
         }
@@ -88,7 +85,7 @@ public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
         }
 
         Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
-
+        
         if (desiredTarget.isEmpty()) {
             return OptionalDouble.empty();
         }
@@ -96,7 +93,7 @@ public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
         return OptionalDouble.of(
             PhotonUtils.calculateDistanceToTargetMeters(
                 cameraHeightMeters, 
-                targetHeightMeters, 
+                CompetitionConstants.kTagLayout.getTagPose(id).get().getZ(),
                 cameraPitchRadians, 
                 Units.degreesToRadians(desiredTarget.get().getPitch()))
         );