Package frc.alotobots.library.subsystems.vision.oculus.constants

Class OculusConstants

java.lang.Object

frc.alotobots.library.subsystems.vision.oculus.constants.OculusConstants

public class OculusConstants
extends Object

Constants used by the Oculus Quest navigation subsystem. Contains configuration values for physical setup and operation parameters.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	OculusConstants.PoseResetStrategy	Determines which side the pose reset logic should be used

Field Summary

Fields

Modifier and Type	Field	Description
static final double	BATTERY_CRITICAL_PERCENT
static final double	BATTERY_LOW_PERCENT
static final Time	OCULUS_CONNECTION_TIMEOUT	Timeout threshold for considering Quest disconnected (seconds)
static final Matrix<N3,N1>	OCULUS_STD_DEVS	Standard deviations representing how much we "trust" the position from the Oculus.
static final OculusConstants.PoseResetStrategy	POSE_RESET_STRATEGY	The strategy used to reset the pose
static final Transform2d	ROBOT_TO_OCULUS	Transform from the robot center to the headset.
static final double	SIM_TRUST_ROTATION	The divisor to divide the rotational std devs by for simulation (how much we trust our sim) Higher = more trust
static final double	SIM_TRUST_TRANSLATION	The divisor to divide the translational std devs by for simulation (how much we trust our sim) Higher = more trust

Constructor Summary

Constructors

Constructor	Description
OculusConstants()

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

POSE_RESET_STRATEGY

public static final OculusConstants.PoseResetStrategy POSE_RESET_STRATEGY

The strategy used to reset the pose

BATTERY_LOW_PERCENT

public static final double BATTERY_LOW_PERCENT

See Also:

• Constant Field Values

BATTERY_CRITICAL_PERCENT

public static final double BATTERY_CRITICAL_PERCENT

See Also:

• Constant Field Values

ROBOT_TO_OCULUS

public static final Transform2d ROBOT_TO_OCULUS

Transform from the robot center to the headset. Coordinate system: - X: Positive is forwards - Y: Positive is left - Rotation: Positive is counter-clockwise

OCULUS_CONNECTION_TIMEOUT

public static final Time OCULUS_CONNECTION_TIMEOUT

Timeout threshold for considering Quest disconnected (seconds)

OCULUS_STD_DEVS

public static final Matrix<N3,N1> OCULUS_STD_DEVS

Standard deviations representing how much we "trust" the position from the Oculus. By default, the Quest 3 provides sub-centimeter accuracy. Values represent: [0]: X position trust (50mm) [1]: Y position trust (50mm) [2]: Rotation trust (~2.87 degrees)

SIM_TRUST_TRANSLATION

public static final double SIM_TRUST_TRANSLATION

The divisor to divide the translational std devs by for simulation (how much we trust our sim) Higher = more trust

See Also:

• Constant Field Values

SIM_TRUST_ROTATION

public static final double SIM_TRUST_ROTATION

The divisor to divide the rotational std devs by for simulation (how much we trust our sim) Higher = more trust

See Also:

• Constant Field Values

Constructor Details

OculusConstants

public OculusConstants()