#include <argos_lib/general/angle_utils.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Translation2d.h>
#include <frc/geometry/Translation3d.h>
#include <frc/spline/Spline.h>
#include <units/angle.h>
#include <units/length.h>
#include <vector>
#include "measure_up.h"

Classes
struct	ScoringPosition

struct	Node

Namespaces
namespace	field_dimensions

namespace	utils

namespace	field_points

namespace	field_points::grids

namespace	field_points::charge_station

namespace	field_points::blue_alliance

namespace	field_points::blue_alliance::game_pieces

namespace	field_points::blue_alliance::charge_station

namespace	field_points::blue_alliance::inner_grid

namespace	field_points::blue_alliance::coop_grid

namespace	field_points::blue_alliance::outer_grid

namespace	field_points::red_alliance

namespace	field_points::red_alliance::game_pieces

namespace	field_points::red_alliance::charge_station

namespace	field_points::red_alliance::inner_grid

namespace	field_points::red_alliance::coop_grid

namespace	field_points::red_alliance::outer_grid

namespace	cone

Enumerations
enum class	ScoringColumn { leftGrid_leftCone , leftGrid_middleCube , leftGrid_rightCone , middleGrid_leftCone , middleGrid_middleCube , middleGrid_rightCone , rightGrid_leftCone , rightGrid_middleCube , rightGrid_rightCone , coneIntake , cubeIntake , stow , invalid }

enum class	ScoringRow { low , middle , high , invalid }

enum	GamePiece { CONE , CUBE , HYBRID }

Functions
constexpr frc::Translation3d	utils::ReflectFieldPoint (const frc::Translation3d source)
	Reflects the point source over the middle of the field to get equivelent points accross the field.

constexpr frc::Translation2d	utils::ReflectFieldPoint (const frc::Translation2d source)

constexpr units::angle::degree_t	utils::ReflectAngle (const units::angle::degree_t sourceAngle)

template<class T >
std::vector< T >	utils::ReflectFieldPoint (const std::vector< T > source)

constexpr frc::Spline< 3 >::ControlVector	utils::ReflectFieldPoint (const frc::Spline< 3 >::ControlVector source)

frc::Pose2d	utils::ReflectFieldPoint (const frc::Pose2d source)

constexpr units::inch_t	utils::ReflectYLine (const units::inch_t source)

Variables
constexpr auto	field_dimensions::fieldMaxY = 315.5975_in

constexpr auto	field_dimensions::fieldMaxX = 651.2225_in

constexpr auto	field_dimensions::fieldMiddleX = fieldMaxX / 2

constexpr auto	field_points::doubleSubstationHeight = 37.375_in

constexpr auto	field_points::doubleSubstationDepth = 13_in

constexpr auto	field_points::doubleSubstationSliderWidth = 14_in

constexpr auto	field_points::singleSubstationHeightTop = 45.125_in

constexpr auto	field_points::singleSubstationHeightBottom = 27.125_in

constexpr auto	field_points::singleSubstationWidth = 22.75_in

constexpr auto	field_points::grids::gridDepth = 54.05_in
	Distance from alliance station wall to end of grid dividers.

constexpr auto	field_points::grids::highConeNodeDepth = 39.75_in

constexpr auto	field_points::grids::highConeNodeHeight = 46_in

constexpr auto	field_points::grids::highCubeNodeDepth = 39.75_in

constexpr auto	field_points::grids::highCubeNodeHeight = 35.5_in

constexpr auto	field_points::grids::middleConeNodeDepth = 22.75_in

constexpr auto	field_points::grids::middleConeNodeHeight = 34_in

constexpr auto	field_points::grids::middleCubeNodeDepth = 22.75_in

constexpr auto	field_points::grids::middleCubeNodeHeight = 23.5_in

constexpr auto	field_points::grids::lowConeNodeDepth = 12_in

constexpr auto	field_points::grids::lowConeNodeHeight = 0_in

constexpr auto	field_points::grids::lowCubeNodeDepth = 12_in

constexpr auto	field_points::grids::lowCubeNodeHeight = 0_in

constexpr auto	field_points::grids::highNodeX = 14.5244_in

constexpr auto	field_points::grids::middleNodeX = 31.55_in

constexpr auto	field_points::grids::lowNodeX = 46.01708_in

constexpr units::inch_t	field_points::charge_station::innerEdgeX = 115.894_in
	Side closest to the driver station.

constexpr units::inch_t	field_points::charge_station::outerEdgeX = 190.105_in
	Side closest to the game pieces.

constexpr auto	field_points::blue_alliance::game_pieces::gp_0 = frc::Translation3d{278.25_in, 180_in, 0_in}

constexpr auto	field_points::blue_alliance::game_pieces::gp_1 = frc::Translation3d{278.25_in, 132_in, 0_in}

constexpr auto	field_points::blue_alliance::game_pieces::gp_2 = frc::Translation3d{278.25_in, 84_in, 0_in}

constexpr auto	field_points::blue_alliance::game_pieces::gp_3 = frc::Translation3d{278.25_in, 36_in, 0_in}

constexpr frc::Translation3d	field_points::blue_alliance::charge_station::chargeStationCenter = frc::Translation3d{153_in, 108_in, 9_in}

constexpr auto	field_points::blue_alliance::innerGridLeftY = 196.185_in

constexpr auto	field_points::blue_alliance::innerGridMiddleY = 174.185_in

constexpr auto	field_points::blue_alliance::innerGridRightY = 152.185_in

constexpr auto	field_points::blue_alliance::coopGridLeftY = 130.185_in

constexpr auto	field_points::blue_alliance::coopGridMiddleY = 108.185_in

constexpr auto	field_points::blue_alliance::coopGridRightY = 86.185_in

constexpr auto	field_points::blue_alliance::outerGridLeftY = 64.185_in

constexpr auto	field_points::blue_alliance::outerGridMiddleY = 42.185_in

constexpr auto	field_points::blue_alliance::outerGridRightY = 20.185_in

constexpr Node	field_points::blue_alliance::inner_grid::topRowLeft

constexpr Node	field_points::blue_alliance::inner_grid::topRowMiddle

constexpr Node	field_points::blue_alliance::inner_grid::topRowRight

constexpr Node	field_points::blue_alliance::inner_grid::middleRowLeft

constexpr Node	field_points::blue_alliance::inner_grid::middleRowMiddle

constexpr Node	field_points::blue_alliance::inner_grid::middleRowRight

constexpr Node	field_points::blue_alliance::inner_grid::bottomRowLeft

constexpr Node	field_points::blue_alliance::inner_grid::bottomRowMiddle

constexpr Node	field_points::blue_alliance::inner_grid::bottomRowRight

constexpr Node	field_points::blue_alliance::coop_grid::topRowLeft

constexpr Node	field_points::blue_alliance::coop_grid::topRowMiddle

constexpr Node	field_points::blue_alliance::coop_grid::topRowRight

constexpr Node	field_points::blue_alliance::coop_grid::middleRowLeft

constexpr Node	field_points::blue_alliance::coop_grid::middleRowMiddle

constexpr Node	field_points::blue_alliance::coop_grid::middleRowRight

constexpr Node	field_points::blue_alliance::coop_grid::bottomRowLeft

constexpr Node	field_points::blue_alliance::coop_grid::bottomRowMiddle

constexpr Node	field_points::blue_alliance::coop_grid::bottomRowRight

constexpr Node	field_points::blue_alliance::outer_grid::topRowLeft

constexpr Node	field_points::blue_alliance::outer_grid::topRowMiddle

constexpr Node	field_points::blue_alliance::outer_grid::topRowRight

constexpr Node	field_points::blue_alliance::outer_grid::middleRowLeft

constexpr Node	field_points::blue_alliance::outer_grid::middleRowMiddle

constexpr Node	field_points::blue_alliance::outer_grid::middleRowRight

constexpr Node	field_points::blue_alliance::outer_grid::bottomRowLeft

constexpr Node	field_points::blue_alliance::outer_grid::bottomRowMiddle

constexpr Node	field_points::blue_alliance::outer_grid::bottomRowRight

constexpr auto	field_points::red_alliance::game_pieces::gp_0 = utils::ReflectFieldPoint(blue_alliance::game_pieces::gp_0)

constexpr auto	field_points::red_alliance::game_pieces::gp_1 = utils::ReflectFieldPoint(blue_alliance::game_pieces::gp_1)

constexpr auto	field_points::red_alliance::game_pieces::gp_2 = utils::ReflectFieldPoint(blue_alliance::game_pieces::gp_2)

constexpr auto	field_points::red_alliance::game_pieces::gp_3 = utils::ReflectFieldPoint(blue_alliance::game_pieces::gp_3)

constexpr frc::Translation3d	field_points::red_alliance::charge_station::chargeStationCenter

constexpr auto	field_points::red_alliance::innerGridLeftY = utils::ReflectYLine(blue_alliance::innerGridLeftY)

constexpr auto	field_points::red_alliance::innerGridMiddleY = utils::ReflectYLine(blue_alliance::innerGridMiddleY)

constexpr auto	field_points::red_alliance::innerGridRightY = utils::ReflectYLine(blue_alliance::innerGridRightY)

constexpr auto	field_points::red_alliance::coopGridLeftY = utils::ReflectYLine(blue_alliance::coopGridLeftY)

constexpr auto	field_points::red_alliance::coopGridMiddleY = utils::ReflectYLine(blue_alliance::coopGridMiddleY)

constexpr auto	field_points::red_alliance::coopGridRightY = utils::ReflectYLine(blue_alliance::coopGridRightY)

constexpr auto	field_points::red_alliance::outerGridLeftY = utils::ReflectYLine(blue_alliance::outerGridLeftY)

constexpr auto	field_points::red_alliance::outerGridMiddleY = utils::ReflectYLine(blue_alliance::outerGridMiddleY)

constexpr auto	field_points::red_alliance::outerGridRightY = utils::ReflectYLine(blue_alliance::outerGridRightY)

constexpr Node	field_points::red_alliance::inner_grid::topRowLeft

constexpr Node	field_points::red_alliance::inner_grid::topRowMiddle

constexpr Node	field_points::red_alliance::inner_grid::topRowRight

constexpr Node	field_points::red_alliance::inner_grid::middleRowLeft

constexpr Node	field_points::red_alliance::inner_grid::middleRowMiddle

constexpr Node	field_points::red_alliance::inner_grid::middleRowRight

constexpr Node	field_points::red_alliance::inner_grid::bottomRowLeft

constexpr Node	field_points::red_alliance::inner_grid::bottomRowMiddle

constexpr Node	field_points::red_alliance::inner_grid::bottomRowRight

constexpr Node	field_points::red_alliance::coop_grid::topRowLeft

constexpr Node	field_points::red_alliance::coop_grid::topRowMiddle

constexpr Node	field_points::red_alliance::coop_grid::topRowRight

constexpr Node	field_points::red_alliance::coop_grid::middleRowLeft

constexpr Node	field_points::red_alliance::coop_grid::middleRowMiddle

constexpr Node	field_points::red_alliance::coop_grid::middleRowRight

constexpr Node	field_points::red_alliance::coop_grid::bottomRowLeft

constexpr Node	field_points::red_alliance::coop_grid::bottomRowMiddle

constexpr Node	field_points::red_alliance::coop_grid::bottomRowRight

constexpr Node	field_points::red_alliance::outer_grid::topRowLeft

constexpr Node	field_points::red_alliance::outer_grid::topRowMiddle

constexpr Node	field_points::red_alliance::outer_grid::topRowRight

constexpr Node	field_points::red_alliance::outer_grid::middleRowLeft

constexpr Node	field_points::red_alliance::outer_grid::middleRowMiddle

constexpr Node	field_points::red_alliance::outer_grid::middleRowRight

constexpr Node	field_points::red_alliance::outer_grid::bottomRowLeft

constexpr Node	field_points::red_alliance::outer_grid::bottomRowMiddle

constexpr Node	field_points::red_alliance::outer_grid::bottomRowRight

constexpr auto	cone::coneWidth = 6_in
	Does not include square rim.

Enumeration Type Documentation

◆ GamePiece

enum GamePiece

Enumerator
CONE
CUBE
HYBRID

◆ ScoringColumn

enum class ScoringColumn

strong

Copyright: Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Enumerator
leftGrid_leftCone
leftGrid_middleCube
leftGrid_rightCone
middleGrid_leftCone
middleGrid_middleCube
middleGrid_rightCone
rightGrid_leftCone
rightGrid_middleCube
rightGrid_rightCone
coneIntake
cubeIntake
stow
invalid

◆ ScoringRow

enum class ScoringRow

strong

Enumerator
low
middle
high
invalid

Classes

Namespaces

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ GamePiece

◆ ScoringColumn

◆ ScoringRow