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.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	CONNECTION_TIMEOUT	Timeout threshold for considering Quest disconnected (seconds)
static final int	MAX_RESET_ATTEMPTS	Maximum number of attempts for reset operations.
static final Matrix<N3,N1>	OCULUS_STD_DEVS	Standard deviations representing how much we "trust" the position from the Oculus.
static final double	RESET_TIMEOUT_SECONDS	Timeout duration in seconds for reset operations (pose reset, heading reset, ping).
static final Transform2d	ROBOT_TO_OCULUS	Transform from the robot center to the headset.

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

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

RESET_TIMEOUT_SECONDS

public static final double RESET_TIMEOUT_SECONDS

Timeout duration in seconds for reset operations (pose reset, heading reset, ping). If a reset operation takes longer than this time, it will be considered failed.

See Also:

• Constant Field Values

MAX_RESET_ATTEMPTS

public static final int MAX_RESET_ATTEMPTS

Maximum number of attempts for reset operations. If a reset operation fails this many times, the command will terminate.

See Also:

• Constant Field Values

CONNECTION_TIMEOUT

public static final double CONNECTION_TIMEOUT

Timeout threshold for considering Quest disconnected (seconds)

See Also:

• Constant Field Values

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-millimeter accuracy. Values represent: [0]: X position trust (5mm) [1]: Y position trust (5mm) [2]: Rotation trust (~2.87 degrees)

Constructor Details

OculusConstants

public OculusConstants()