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Adjusted physical angles of cameras and reflected this in Drive.java #2

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Merged
vdikov merged 2 commits into from
Sep 1, 2025
Merged

Adjusted physical angles of cameras and reflected this in Drive.java #2

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Adjusted physical angles of cameras and reflected this in Drive.java
vdikov Aug 31, 2025
8b7fc66
spotlessApply and some thoughts about merging poses
vdikov Aug 31, 2025
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14 changes: 12 additions & 2 deletions src/main/java/com/team2813/subsystems/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -116,15 +116,21 @@ public class Drive extends SubsystemBase implements AutoCloseable {
static final double FRONT_DIST = 0.4064;
static final double LEFT_DIST = 0.3302;

// positive x - robot forward
// positive y - robot left
// positive z - robot up
// positive roll - tilt to the right
// positive pitch - look down
// positive yaw - turn left
private static final Transform3d leftColorTransform =
new Transform3d(
new Translation3d(Centimeters.of(31), Centimeters.of(21), Centimeters.of(20)),
new Rotation3d(Degrees.of(0), Degrees.of(-30), Degrees.of(-30)));
new Rotation3d(Degrees.of(0), Degrees.of(-20), Degrees.of(-30)));

private static final Transform3d rightColorTransform =
new Transform3d(
new Translation3d(Centimeters.of(29), Centimeters.of(-23), Centimeters.of(13)),
new Rotation3d(Degrees.of(0), Degrees.of(-20), Degrees.of(30)));
new Rotation3d(Degrees.of(0), Degrees.of(-20), Degrees.of(20)));

/**
* Configurable values for the {@code Drive} subsystem
Expand Down Expand Up @@ -538,6 +544,10 @@ public void periodic() {
photonPoseEstimator.addHeadingData(Timer.getTimestamp(), getRotation3d());
}
photonPoseEstimator.update(this::handlePhotonPose);
// Thoughts about moving away from functional programing paradigm here to just simpler,
// procedural programming, e.g.,
// List<Estimates> estimates = phonPoseEstimater.getEstimates();
// handleVisionPose(estimates);
Pose2d drivePose = getPose();
currentPosePublisher.set(drivePose);
photonPoseEstimator.setDrivePose(drivePose);
Expand Down