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

Class QuestNavConstants

java.lang.Object

frc.alotobots.library.subsystems.vision.questnav.constants.QuestNavConstants

public class QuestNavConstants
extends Object

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

Field Summary

Fields

Modifier and Type	Field	Description
static final double	BATTERY_CRITICAL_PERCENT
static final double	BATTERY_LOW_PERCENT
static AprilTagFieldLayout	QUESTNAV_FIELD_LAYOUT
static final Matrix<N3,N1>	QUESTNAV_STD_DEVS	Standard deviations representing how much we "trust" the position from the QuestNav.
static final Transform3d	ROBOT_TO_QUEST	Transform from the robot center to the headset.

Constructor Summary

Constructors

Constructor	Description
QuestNavConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

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_QUEST

public static final Transform3d ROBOT_TO_QUEST

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

QUESTNAV_STD_DEVS

public static final Matrix<N3,N1> QUESTNAV_STD_DEVS

Standard deviations representing how much we "trust" the position from the QuestNav. 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)

QUESTNAV_FIELD_LAYOUT

public static AprilTagFieldLayout QUESTNAV_FIELD_LAYOUT

Constructor Details

QuestNavConstants

public QuestNavConstants()