scoring_positions.h File Reference

#include <frc/geometry/Translation2d.h>
#include <optional>
#include "constants/field_points.h"
#include "constants/measure_up.h"
#include "subsystems/bash_guard_subsystem.h"
#include "subsystems/lifter_subsystem.h"

Go to the source code of this file.

Classes
struct	SetpointPosition

Namespaces
namespace	scoring_positions
namespace	scoring_positions::lifter_extension_end

Functions
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::coneLow (frc::Translation2d(24.5_in, 19_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::coneLow_wristInverted (frc::Translation2d(24.5_in, 19_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::coneMid (frc::Translation2d(36.0_in, 44.5_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::coneMid_wristInverted (frc::Translation2d(34_in, 44.5_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::coneHigh (frc::Translation2d(53_in, 55.5_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::coneHigh_wristInverted (frc::Translation2d(51_in, 55_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::cubeLow (frc::Translation2d(20.5_in, 23_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::cubeLow_wristInverted (frc::Translation2d(20.5_in, 23_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::cubeMid (frc::Translation2d(33_in, 37_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::cubeMid_wristInverted (frc::Translation2d(33_in, 37_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::cubeHigh (frc::Translation2d(48.5_in, 49_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::cubeHigh_wristInverted (frc::Translation2d(48.5_in, 49_in), BashGuardPosition::Retracted)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::coneIntake (frc::Translation2d(31.5_in, 13.25_in), BashGuardPosition::Deployed)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::cubeIntake (frc::Translation2d(31.5_in, 14.75_in), BashGuardPosition::Deployed)
static constexpr SetpointPosition	scoring_positions::lifter_extension_end::stow (frc::Translation2d(10.5_in, 19.5_in), BashGuardPosition::Retracted)
constexpr std::optional< SetpointPosition >	GetTargetPosition (ScoringPosition gridPosition, bool enableBashGuard, WristPosition wristPosition)

Variables
static constexpr auto	scoring_positions::visionScoringAlignOffset
static constexpr auto	scoring_positions::visionScoringPlacementOffset
static constexpr units::inch_t	scoring_positions::lifter_extension_end::robotPlacingOffsetX = measure_up::chassis::length / 2 + measure_up::bumperExtension
static constexpr auto	scoring_positions::lifter_extension_end::floppyConeOffset = frc::Translation2d(0_in, 1.5_in)

Function Documentation

GetTargetPosition()

constexpr std::optional< SetpointPosition > GetTargetPosition ( ScoringPosition  gridPosition, bool  enableBashGuard, WristPosition  wristPosition  )

constexpr