Package frc.robot.constants

Class VisionConstants

java.lang.Object
frc.robot.constants.VisionConstants
public final class VisionConstants extends Object

  • Field Details

    • CAMERA_0_NAME

      public static final String CAMERA_0_NAME
      See Also:

    • CAMERA_1_NAME

      public static final String CAMERA_1_NAME
      See Also:

    • TAG_STD_BASE

      public static final LoggedTunableNumber TAG_STD_BASE
      Base linear standard deviation for single-tag AprilTag poses.

    • MAX_AMBIGUITY

      public static final LoggedTunableNumber MAX_AMBIGUITY
      Maximum acceptable ambiguity ratio for single-tag observations.

    • MAX_Z_HEIGHT

      public static final LoggedTunableNumber MAX_Z_HEIGHT
      Maximum acceptable Z-height offset (meters) to reject 'flying robot' hallucinations.

    • MAX_ANGULAR_ACCEL_DEG_PER_SEC2

      public static final LoggedTunableNumber MAX_ANGULAR_ACCEL_DEG_PER_SEC2
      Maximum acceptable angular acceleration (deg/sec^2) across any axis to reject frames impacted by extreme physical shock or bumping (vibrational blur).

    • MAX_TILT_DEG

      public static final LoggedTunableNumber MAX_TILT_DEG
      Maximum acceptable pitch or roll angle (deg) to reject vision when beached on an obstacle.

    • FIELD_MARGIN_METERS

      public static final LoggedTunableNumber FIELD_MARGIN_METERS
      Allowable field coordinate boundary margin in meters for pose rejection.

    • MULTI_TAG_STD_MULTIPLIER

      public static final LoggedTunableNumber MULTI_TAG_STD_MULTIPLIER
      Multiplier applied to linear StdDev when multiple tags are simultaneously visible.

    • ANGULAR_STD_MULTIPLIER

      public static final LoggedTunableNumber ANGULAR_STD_MULTIPLIER
      Multiplier to convert linear StdDev to angular StdDev for the pose estimator.

    • LINEAR_VELOCITY_STD_MULTIPLIER

      public static final LoggedTunableNumber LINEAR_VELOCITY_STD_MULTIPLIER
      Continuous scaling factor to dynamically inflate StdDev linearly based on robot ground speed (m/s).

    • ANGULAR_VELOCITY_STD_MULTIPLIER

      public static final LoggedTunableNumber ANGULAR_VELOCITY_STD_MULTIPLIER
      Continuous scaling factor to dynamically inflate StdDev linearly based on chassis angular spin (deg/s).

    • SLAM_STD_DEV

      public static final LoggedTunableNumber SLAM_STD_DEV
      Static standard deviation for VIO SLAM measurements (meters and radians).

    • SLAM_ANGULAR_STD_DEV

      public static final LoggedTunableNumber SLAM_ANGULAR_STD_DEV
      Static standard deviation for VIO SLAM angular measurements (radians).