Package frc.robot.constants

Class FieldConstants

java.lang.Object
frc.robot.constants.FieldConstants
public final class FieldConstants extends Object
Field-level constants for the 2026 REBUILT game.

All dimensions are sourced from the maple-sim Arena2026Rebuilt field geometry and the official FRC Game Manual to ensure simulation-to-reality parity.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final edu.wpi.first.math.geometry.Translation3d
    BLUE_HUB_3D
    Blue hub 3D target for shooter math (top opening, meters).
    static final edu.wpi.first.math.geometry.Translation2d
    BLUE_HUB_POS
    Blue alliance hub center position (meters).
    static final edu.wpi.first.math.geometry.Pose2d
    BLUE_NEARDEPOT_CLIMB_POSE
     
    static final edu.wpi.first.math.geometry.Pose2d
    BLUE_OUTPOST_CLIMB_POSE
     
    static final double
    FIELD_LENGTH_METERS
    Standard FRC field length (meters).
    static final double
    FIELD_WIDTH_METERS
    Standard FRC field width (meters).
    static final double
    GAME_PIECE_MASS_KG
    Mass of a single Rebuilt Fuel ball (kg).
    static final double
    GAME_PIECE_RADIUS_METERS
    Radius of a single Rebuilt Fuel ball (meters).
    static final double
    GAME_PIECE_REST_HEIGHT_METERS
    Height above the field surface at which game pieces rest in 3D visualization (meters).
    static final double
    HUB_SIZE_METERS
    Approximate side length of the hub structures (meters).
    static final double
    INTAKE_COLLECTION_RADIUS_METERS
    Intake collection radius (meters) for swallowing pieces in simulation.
    static final boolean
    MAPLE_SIM_EFFICIENCY_MODE
    Controls whether the maple-sim arena runs in efficiency mode.
    static final edu.wpi.first.math.geometry.Translation3d
    RED_HUB_3D
    Red hub 3D target for shooter math (top opening, meters).
    static final edu.wpi.first.math.geometry.Translation2d
    RED_HUB_POS
    Red alliance hub center position (meters).
    static final edu.wpi.first.math.geometry.Pose2d
    RED_NEARDEPOT_CLIMB_POSE
     
    static final edu.wpi.first.math.geometry.Pose2d
    RED_NEAROUTPOST_CLIMB_POSE
     
    static final double
    WALL_FRICTION
    Coulomb friction coefficient for field boundary walls and obstacles.
    static final double
    WALL_RESTITUTION
    Coefficient of restitution (bounciness) for field boundary walls and obstacles.
    static final double
    WALL_THICKNESS_METERS
    Thickness of simulated field boundary walls (meters).

  • Method Summary

    Modifier and Type
    Method
    Description
    static edu.wpi.first.math.geometry.Pose2d
    getClosestClimbingPosition(edu.wpi.first.math.geometry.Pose2d currentRobotPose)
    Returns the closest climbing position to the robot based on current alliance.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • FIELD_LENGTH_METERS

      public static final double FIELD_LENGTH_METERS
      Standard FRC field length (meters). Matches maple-sim Arena2026Rebuilt.
      See Also:

    • FIELD_WIDTH_METERS

      public static final double FIELD_WIDTH_METERS
      Standard FRC field width (meters). Matches maple-sim Arena2026Rebuilt.
      See Also:

    • WALL_THICKNESS_METERS

      public static final double WALL_THICKNESS_METERS
      Thickness of simulated field boundary walls (meters).
      See Also:

    • GAME_PIECE_RADIUS_METERS

      public static final double GAME_PIECE_RADIUS_METERS
      Radius of a single Rebuilt Fuel ball (meters). 15 cm diameter = 7.5 cm radius. Source: RebuiltFuelOnField.REBUILT_FUEL_INFO
      See Also:

    • GAME_PIECE_REST_HEIGHT_METERS

      public static final double GAME_PIECE_REST_HEIGHT_METERS
      Height above the field surface at which game pieces rest in 3D visualization (meters).
      See Also:

    • GAME_PIECE_MASS_KG

      public static final double GAME_PIECE_MASS_KG
      Mass of a single Rebuilt Fuel ball (kg). 0.5 lbs = 0.2268 kg. Source: RebuiltFuelOnField.REBUILT_FUEL_INFO
      See Also:

    • WALL_FRICTION

      public static final double WALL_FRICTION
      Coulomb friction coefficient for field boundary walls and obstacles.
      See Also:

    • WALL_RESTITUTION

      public static final double WALL_RESTITUTION
      Coefficient of restitution (bounciness) for field boundary walls and obstacles.
      See Also:

    • HUB_SIZE_METERS

      public static final double HUB_SIZE_METERS
      Approximate side length of the hub structures (meters).
      See Also:

    • BLUE_HUB_POS

      public static final edu.wpi.first.math.geometry.Translation2d BLUE_HUB_POS
      Blue alliance hub center position (meters).

    • RED_HUB_POS

      public static final edu.wpi.first.math.geometry.Translation2d RED_HUB_POS
      Red alliance hub center position (meters).

    • BLUE_HUB_3D

      public static final edu.wpi.first.math.geometry.Translation3d BLUE_HUB_3D
      Blue hub 3D target for shooter math (top opening, meters).

    • RED_HUB_3D

      public static final edu.wpi.first.math.geometry.Translation3d RED_HUB_3D
      Red hub 3D target for shooter math (top opening, meters).

    • INTAKE_COLLECTION_RADIUS_METERS

      public static final double INTAKE_COLLECTION_RADIUS_METERS
      Intake collection radius (meters) for swallowing pieces in simulation.
      See Also:

    • BLUE_NEARDEPOT_CLIMB_POSE

      public static final edu.wpi.first.math.geometry.Pose2d BLUE_NEARDEPOT_CLIMB_POSE

    • BLUE_OUTPOST_CLIMB_POSE

      public static final edu.wpi.first.math.geometry.Pose2d BLUE_OUTPOST_CLIMB_POSE

    • RED_NEARDEPOT_CLIMB_POSE

      public static final edu.wpi.first.math.geometry.Pose2d RED_NEARDEPOT_CLIMB_POSE

    • RED_NEAROUTPOST_CLIMB_POSE

      public static final edu.wpi.first.math.geometry.Pose2d RED_NEAROUTPOST_CLIMB_POSE

    • MAPLE_SIM_EFFICIENCY_MODE

      public static final boolean MAPLE_SIM_EFFICIENCY_MODE
      Controls whether the maple-sim arena runs in efficiency mode.

      OFF (false): Full realism — all game pieces spawned, both depots, all center field pieces. Recommended for match-accurate simulation and autonomous testing.

      ON (true): Reduced piece count — only 1/3 of center pieces and only your alliance's depot. Useful for faster iteration during mechanism development when full field population is unnecessary.

      See Also:

  • Method Details

    • getClosestClimbingPosition

      public static edu.wpi.first.math.geometry.Pose2d getClosestClimbingPosition(edu.wpi.first.math.geometry.Pose2d currentRobotPose)
      Returns the closest climbing position to the robot based on current alliance.
      Parameters:
      currentRobotPose - The robot's current field-relative pose.
      Returns:
      The nearest climb approach pose.