Package frc.alotobots.library.subsystems.vision.localizationfusion

Class LocalizationFusionConstants.AutoRealignConstants

java.lang.Object

frc.alotobots.library.subsystems.vision.localizationfusion.LocalizationFusionConstants.AutoRealignConstants

Enclosing class:

LocalizationFusionConstants

public class LocalizationFusionConstants.AutoRealignConstants
extends Object

Constants related to the auto-realignment feature for correcting Quest drift using AprilTags. This system monitors robot stability and pose error to trigger automatic realignments when the robot is stationary and significant drift is detected.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	COOLDOWN	Minimum time between auto-realignments (seconds).
static final boolean	ENABLED	Whether auto-realignment should be enabled.
static final double	MAX_MOVEMENT	Maximum pose change over stability period to be considered stable (meters).
static final double	STABILITY_TIME	Time robot must be stable before realigning (seconds).
static final double	THRESHOLD	Threshold for auto-realignment when pose error exceeds this value (meters).

Constructor Summary

Constructors

Constructor	Description
AutoRealignConstants()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

ENABLED

public static final boolean ENABLED

Whether auto-realignment should be enabled.

See Also:

• Constant Field Values

THRESHOLD

public static final double THRESHOLD

Threshold for auto-realignment when pose error exceeds this value (meters).

See Also:

• Constant Field Values

MAX_MOVEMENT

public static final double MAX_MOVEMENT

Maximum pose change over stability period to be considered stable (meters).

See Also:

• Constant Field Values

STABILITY_TIME

public static final double STABILITY_TIME

Time robot must be stable before realigning (seconds).

See Also:

• Constant Field Values

COOLDOWN

public static final double COOLDOWN

Minimum time between auto-realignments (seconds).

See Also:

• Constant Field Values

Constructor Details

AutoRealignConstants

public AutoRealignConstants()