Package frc.reefscape

Class Zones

java.lang.Object
frc.reefscape.Zones
public class Zones extends Object

  • Field Details

    • blueFieldSide

      public static final Trigger blueFieldSide

    • opponentFieldSide

      public static final Trigger opponentFieldSide

    • topLeftZone

      public static final Trigger topLeftZone

    • topRightZone

      public static final Trigger topRightZone

    • bottomLeftZone

      public static final Trigger bottomLeftZone

    • bottomRightZone

      public static final Trigger bottomRightZone

    • netAlgaeZone

      public static final Trigger netAlgaeZone

    • isCloseToReef

      public static final Trigger isCloseToReef

  • Constructor Details

    • Zones

      public Zones()

  • Method Details

    • getTagOffset

      public double getTagOffset(int tag)
      Depending on the offsets file used, change the tag offsets here.

      getTagOffset automatically checks if the offset taken is < 0 or greater than the given tag limit. If the tag is blue (> 16), it subtracts 17 from the given tag

      Parameters:
      tag -
      Returns:

    • getTagAngleOffset

      public double getTagAngleOffset(int tag)

    • getScoreReefPoseX

      public double getScoreReefPoseX()
      Calls ScoreReefPose to get Pose of Target Reef
      Returns:
      X of Target Reef

    • getScoreReefPoseY

      public double getScoreReefPoseY()
      Calls ScoreReefPose to get Pose of Target Reef
      Returns:
      Y of Target Reef

    • getScoreReefPoseAngle

      public double getScoreReefPoseAngle()
      Calls ScoreReefPose to get Pose of Target Reef
      Returns:
      Returns Target Reef Pose Angle value based on robot heading hence adding PI is needed since the target reef face is pi radians from robot heading

    • atReef

      public static boolean atReef()

    • withinReefRange

      public static boolean withinReefRange(double range)

    • getAtReefXYTolerance

      public static double getAtReefXYTolerance()

    • getAtReefRotationTolerance

      public static double getAtReefRotationTolerance()

    • getNetAlgaeX

      public static double getNetAlgaeX()

    • getNetAlgaeZoneTolerance

      public static double getNetAlgaeZoneTolerance()