measure_up.h

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#pragma once
 
#include <units/angle.h>
#include <units/length.h>
 
#include <array>
 
#include <opencv2/calib3d.hpp>
 
namespace measure_up {
  constexpr auto intakeExtension = 18_cm;  
  constexpr auto bumperExtension = 3_in;   
  namespace chassis {
    constexpr units::inch_t width{28.0};
    constexpr units::inch_t length{31.0};
  }  // namespace chassis
  namespace swerve_offsets {
    constexpr auto frontLeftLOffset = 4.0_in;
    constexpr auto frontLeftWOffset = 4.0_in;
    constexpr auto frontRightLOffset = 4.0_in;
    constexpr auto frontRightWOffset = 4.0_in;
    constexpr auto backRightWOffset = 4.0_in;
    constexpr auto backRightLOffset = 4.0_in;
    constexpr auto backLeftWOffset = 4.0_in;
    constexpr auto backLeftLOffset = 4.0_in;
  }  // namespace swerve_offsets
  namespace hood {
    namespace comp_bot {
      constexpr auto homeAngle = 1.4_deg * -1;
    }  // namespace comp_bot
    namespace practice_bot {
      constexpr auto homeAngle = 1.2_deg * -1;
    }  // namespace practice_bot
  }    // namespace hood
  namespace turret {
    constexpr auto homeAngle = 180_deg;
    constexpr auto minAngle = 30_deg;
    constexpr auto maxAngle = 400_deg;
  }  // namespace turret
  namespace camera {
    // constexpr auto cameraHeight = 28.5_in; // Front camera
    constexpr auto cameraHeight = 36.7_in;  // Rear camera
    constexpr auto upperHubHeight = 104_in;
    constexpr auto cameraMountAngle = 27_deg;               // actual current camera mount angle is 27.8 degrees
    constexpr auto cameraMountAnglePracticeBot = 27.8_deg;  // Rear camera
    // constexpr auto toRotationCenter = 9_in; // Front camera
    constexpr auto toRotationCenter = 7_in * -1;  // Rear camera
 
    // const float cameraIntrinsicValues[] =
    static const cv::Matx33d intrinsics{2.5751292067328632e+02,
                                        0.,
                                        1.5971077914723165e+02,
                                        0.,
                                        2.5635071715912881e+02,
                                        1.1971433393615548e+02,
                                        0.,
                                        0.,
                                        1.};
    static const cv::Matx<double, 1, 5> distortion{2.9684613693070039e-01,
                                                   -1.4380252254747885e+00,
                                                   -2.2098421479494509e-03,
                                                   -3.3894563533907176e-03,
                                                   2.5344430354806740e+00};
    // const cv::Mat1f cameraIntrinsics(3, 3, &cameraIntrinsicValues[0]);
 
  }  // namespace camera
  namespace climber_arm {
    constexpr auto homeExtension = 21.5_in;  
  }                                          // namespace climber_arm
  namespace climber_hook {
    constexpr auto homeExtension = 35.25_in;  
    constexpr auto maxExtension = 35.00_in;
    constexpr auto minExtension = 1_in;
  }  // namespace climber_hook
  namespace closepositions {
    constexpr auto fixedLongDist = 21.5_in;   //< Front and back distance from shooter to frame perimeter
    constexpr auto fixedShortDist = 18.5_in;  //< Left and right distance from shooter to frame perimeter
    constexpr auto fixedFrontPos = 360_deg;
    constexpr auto fixedLeftPos = 90_deg;
    constexpr auto fixedBackPos = 180_deg;
    constexpr auto fixedRightPos = 270_deg;
  }  // namespace closepositions
}  // namespace measure_up