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Merged
kausikbs merged 4 commits into from
Feb 27, 2026
Merged

Add new Camera Positions, important for auto simulation. #38

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024091a
Add new camera positions
blaze-developer Feb 14, 2026
fff41d7
Add new camera positions to simulation and model
blaze-developer Feb 14, 2026
7faf137
Merge branch 'main' into newcams
blaze-developer Feb 26, 2026
b299ad7
Use latest cad camera positions
blaze-developer Feb 26, 2026
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147 changes: 94 additions & 53 deletions .advantagescope/Robot_Relic2026/config.json
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Original file line number Diff line number Diff line change
@@ -1,54 +1,95 @@
{
"name": "Relic",
"rotations": [
{"axis": "x", "degrees": 90},
{"axis": "z", "degrees": 90}
],
"position": [0, 0, 0],
"disableSimplification": true,
"dynamicColoring": true,
"cameras": [
{
"name": "Front Camera",
"rotations": [
{
"axis": "y",
"degrees": -20
}
],
"position": [
0.3048,
0.12,
0.12
],
"resolution": [
1280,
960
],
"fov": 83
}
],
"components": [
{
"zeroedRotations": [
{"axis": "x", "degrees": 90},
{"axis": "z", "degrees": 90}
],
"zeroedPosition": [0.098, 0, -0.457]
},
{
"zeroedRotations": [
{"axis": "x", "degrees": 90},
{"axis": "z", "degrees": 90}
],
"zeroedPosition": [-0.252, 0, -0.207]
},
{
"zeroedRotations": [
{"axis": "x", "degrees": 90},
{"axis": "z", "degrees": 90}
],
"zeroedPosition": [-0.252, 0, -0.207]
}
]
}
"name": "Relic",
"rotations": [
{"axis": "x", "degrees": 90},
{"axis": "z", "degrees": 90}
],
"position": [0, 0, 0],
"disableSimplification": true,
"dynamicColoring": true,
"cameras": [
{
"name": "Shooter Camera",
"rotations": [
{
"axis": "y",
"degrees": -30
}
],
"position": [
0.0,
0.0,
0.526
]
},
{
"name": "Back Left Camera",
"rotations": [
{
"axis": "y",
"degrees": -30
},
{
"axis": "z",
"degrees": 150
}
],
"position": [
-0.160,
0.322,
0.216
],
"resolution": [
1280,
960
],
"fov": 83
},
{
"name": "Back Right Camera",
"rotations": [
{
"axis": "y",
"degrees": -30
},
{
"axis": "z",
"degrees": 210
}
],
"position": [
-0.162,
-0.322,
0.216
],
"resolution": [
1280,
960
],
"fov": 83
}
],
"components": [
{
"zeroedRotations": [
{"axis": "x", "degrees": 90},
{"axis": "z", "degrees": 90}
],
"zeroedPosition": [0.098, 0, -0.457]
},
{
"zeroedRotations": [
{"axis": "x", "degrees": 90},
{"axis": "z", "degrees": 90}
],
"zeroedPosition": [-0.252, 0, -0.207]
},
{
"zeroedRotations": [
{"axis": "x", "degrees": 90},
{"axis": "z", "degrees": 90}
],
"zeroedPosition": [-0.252, 0, -0.207]
}
]
}
6 changes: 4 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -128,7 +128,9 @@ public RobotContainer() {

vision_ = new AprilTagVision(
drivebase_::addVisionMeasurement,
new CameraIOPhotonSim("front", VisionConstants.frontTransform, MapleSimUtil::getPosition, true)
new CameraIOPhotonSim("front", VisionConstants.frontTransform, MapleSimUtil::getPosition, true),
new CameraIOPhotonSim("backleft", VisionConstants.backLeftTransform, MapleSimUtil::getPosition, true),
new CameraIOPhotonSim("backright", VisionConstants.backRightTransform, MapleSimUtil::getPosition, true)
);

intake_= new IntakeSubsystem(new IntakeIOSim(roborioCANBus));
Expand Down Expand Up @@ -191,7 +193,7 @@ public RobotContainer() {
};

CameraIO[] cams = new CameraIO[numCams];
Arrays.fill(cams, new CameraIO() {});
Arrays.setAll(cams, i -> new CameraIO() {});

vision_ = new AprilTagVision(
drivebase_::addVisionMeasurement,
Expand Down
14 changes: 12 additions & 2 deletions src/main/java/frc/robot/subsystems/vision/VisionConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,18 @@ public class VisionConstants {

// Transforms
public static final Transform3d frontTransform = new Transform3d(
new Translation3d(Meters.of(0.1975), Meters.of(-0.2032), Meters.of(0.205)),
new Rotation3d(Degrees.zero(), Degrees.of(-20), Degrees.zero())
new Translation3d(Meters.of(0.0), Meters.of(0.0), Meters.of(0.526)),
new Rotation3d(Degrees.zero(), Degrees.of(-28), Degrees.zero())
);

public static final Transform3d backLeftTransform = new Transform3d(
new Translation3d(Meters.of(-0.160), Meters.of(0.322), Meters.of(0.216)),
new Rotation3d(Degrees.zero(), Degrees.of(-30), Degrees.of(150))
);

public static final Transform3d backRightTransform = new Transform3d(
new Translation3d(Meters.of(-0.162), Meters.of(-0.322), Meters.of(0.216)),
new Rotation3d(Degrees.zero(), Degrees.of(-30), Degrees.of(210))
);

// Odometry Filtering Configuration
Expand Down
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