please use the origin cube (or sphere, or pyramid)

SciBorgs · Feb 3, 2025 · 1955854 · 1955854
1 parent 5cfb014
commit 1955854
Showing 1 changed file with 31 additions and 4 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/vision/VisionConstants.java b/src/main/java/org/sciborgs1155/robot/vision/VisionConstants.java
@@ -1,5 +1,8 @@
 package org.sciborgs1155.robot.vision;
 
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Meters;
+
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.Matrix;
@@ -18,14 +21,38 @@ public class VisionConstants {
   /** TODO: Create cameras with updated constants; be sure to add in {@link Vision#create} */
   // WARNING: EMPTY TRANSFORMS WILL CRASH SIMULATION UPON TAG DETECTION
   public static final CameraConfig BACK_LEFT_CAMERA =
-      new CameraConfig("back left", new Transform3d(1, 1, 1, new Rotation3d()));
+      new CameraConfig(
+          "back left",
+          new Transform3d(
+              Inches.of(-12.101091).in(Meters),
+              Inches.of(13.3687655).in(Meters),
+              Inches.of(-8.8799715).in(Meters),
+              new Rotation3d()));
 
   public static final CameraConfig BACK_RIGHT_CAMERA =
-      new CameraConfig("back right", new Transform3d(1, 1, 1, new Rotation3d()));
+      new CameraConfig(
+          "back right",
+          new Transform3d(
+              Inches.of(-12.101091).in(Meters),
+              Inches.of(-13.3687655).in(Meters),
+              Inches.of(-8.8799715).in(Meters),
+              new Rotation3d()));
   public static final CameraConfig FRONT_LEFT_CAMERA =
-      new CameraConfig("front left", new Transform3d(1, 1, 1, new Rotation3d()));
+      new CameraConfig(
+          "front left",
+          new Transform3d(
+              Inches.of(13.525813).in(Meters),
+              Inches.of(10.7835795).in(Meters),
+              Inches.of(-8.334).in(Meters),
+              new Rotation3d()));
   public static final CameraConfig FRONT_RIGHT_CAMERA =
-      new CameraConfig("front right", new Transform3d(1, 1, 1, new Rotation3d()));
+      new CameraConfig(
+          "front right",
+          new Transform3d(
+              Inches.of(13.525813).in(Meters),
+              Inches.of(-10.7835795).in(Meters),
+              Inches.of(-8.334).in(Meters),
+              new Rotation3d()));
 
   // OV9281 constants for our configuration
   public static final int WIDTH = 1280;