Field Length Increased #506
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| @@ -46,14 +46,14 @@ public abstract class BasePoseSubsystem extends BaseSubsystem implements DataFra | |||
| protected BooleanProperty rioRotated; | |||
| protected boolean firstUpdate = true; | |||
| protected double lastSetHeadingTime; | |||
| public static double fieldXMidpointInMeters = 8.2705; | |||
| public static double fieldXMidpointInMeters = 8.7785; | |||
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⭐ while we're here, consider turning this into a Distance value of Meters.of instead
| public static double fieldXMidpointInMeters = 8.7785; | |
| public static Distance fieldXMidpoint = Meters.of(8.7785); |
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Maybe we should also add a comment about what years field this is for? Maybe have a list of past lengths in case someone was running 2024?
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Where did we get this new value from? The field is relatively evergreen, so this one surprises me a little.
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The Game Manual specified the field length as approximately 26ft. 5in. by 57ft. 6(7/8)in. I took the length and converted it to meters then halved it.
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Can you verify this using AdvantageScope? If you drive the robot to 8.7785, is it exactly in the middle of the field?
Why are we doing this?
Fixes Pose2d conversions from Blue Alliance to Red Alliance
Whats changing?
BasePoseSubsystem fieldXMidpointInMeters
Questions/notes for reviewers
How this was tested