modified vision constants to match real robot

Shenzhen-Robotics-Alliance · Oct 18, 2024 · ebdc332 · ebdc332
1 parent 0ffc088
commit ebdc332
Showing 1 changed file with 24 additions and 12 deletions.
diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java
@@ -27,36 +27,48 @@ public class VisionConstants {
     GYRO_ROTATIONAL_STANDARD_ERROR_RADIANS = Math.toRadians(0.1);
 
     public static final List<PhotonCameraProperties> photonVisionCameras = List.of(
+            new PhotonCameraProperties(
+                    "FrontCam",
+                    60, 18, 5,
+                    68,
+                    0.6, 0.2,
+                    640, 480,
+                    new Translation2d(0.2, 0), // the outing position of the camera in relative to the robot center
+                    0.3, // the mounting height, in meters
+                    Rotation2d.fromDegrees(0), // the camera facing, 0 is front, positive is counter-clockwise
+                    24, // camera pitch angle, in degrees
+                    180 // camera roll angle, 0 for up-right and 180 for upside-down
+            ),
             new PhotonCameraProperties(
                     "FrontLeftCam",
-                    30, 18, 5,
+                    60, 18, 5,
                     68,
                     0.6, 0.2,
-                    1280, 720,
+                    640, 480,
                     new Translation2d(0.2, 0.15),
                     0.3,
-                    Rotation2d.fromDegrees(15),
-                    24,
+                    Rotation2d.fromDegrees(35),
+                    30,
                     180 // upside-down
             ),
             new PhotonCameraProperties(
                     "FrontRightCam",
-                    30, 18, 5,
+                    60, 18, 5,
                     68,
                     0.6, 0.2,
-                    1280, 720,
+                    640, 480,
                     new Translation2d(0.2, -0.15),
                     0.3,
-                    Rotation2d.fromDegrees(-15),
-                    24,
+                    Rotation2d.fromDegrees(-35),
+                    30,
                     180 // upside-down
             ),
             new PhotonCameraProperties(
                     "BackLeftCam",
-                    30, 18, 5,
+                    60, 18, 5,
                     68,
                     0.6, 0.2,
-                    1280, 720,
+                    640, 480,
                     new Translation2d(-0.2, 0.15),
                     0.3,
                     Rotation2d.fromDegrees(60),
@@ -65,10 +77,10 @@ public class VisionConstants {
             ),
             new PhotonCameraProperties(
                     "BackRightCam",
-                    30, 18, 5,
+                    60, 18, 5,
                     68,
                     0.6, 0.2,
-                    1280, 720,
+                    640, 480,
                     new Translation2d(-0.2, -0.15),
                     0.3,
                     Rotation2d.fromDegrees(-60),