Create and use blank MTTD interpolated vision dataset

team581 · Nov 9, 2024 · 983fdf1 · 983fdf1
1 parent a0b4fad
commit 983fdf1
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Showing 2 changed files with 32 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/config/CompConfig.java b/src/main/java/frc/robot/config/CompConfig.java
@@ -283,7 +283,7 @@ class CompConfig {
                 distanceToAngleTolerance.put(1.0, 2.5);
               }),
           new LightsConfig(3),
-          new VisionConfig(4, 0.4, 0.4, InterpolatedVisionDataset.HOME),
+          new VisionConfig(4, 0.4, 0.4, InterpolatedVisionDataset.MTTD),
           new PerfToggles(true, false, false));
 
   private CompConfig() {}

diff --git a/src/main/java/frc/robot/vision/interpolation/InterpolatedVisionDataset.java b/src/main/java/frc/robot/vision/interpolation/InterpolatedVisionDataset.java
@@ -72,6 +72,37 @@ public enum InterpolatedVisionDataset {
           new VisionInterpolationData(
               new Translation2d(2.741, 4.202),
               new Translation2d(2.630, 3.974),
+              "BLUE_FRONT_PODIUM_MIDDLE"))),
+  MTTD(
+      List.of(
+          new VisionInterpolationData(
+              new Translation2d(15.2245, 5.522), new Translation2d(15.2245, 5.522), "SUBWOOFER"),
+          new VisionInterpolationData(
+              new Translation2d(13.0745, 5.522),
+              new Translation2d(13.0745, 5.522),
+              "PODIUM_SPEAKER_INTERSECTION"),
+          new VisionInterpolationData(
+              new Translation2d(11.059, 6.842),
+              new Translation2d(11.059, 6.842),
+              "WING_LINE_MIDDLE"),
+          new VisionInterpolationData(
+              new Translation2d(13.799, 4.202),
+              new Translation2d(13.799, 4.202),
+              "FRONT_PODIUM_MIDDLE")),
+      List.of(
+          new VisionInterpolationData(
+              new Translation2d(1.315, 5.522), new Translation2d(1.315, 5.522), "BLUE_SUBWOOFER"),
+          new VisionInterpolationData(
+              new Translation2d(3.465, 5.522),
+              new Translation2d(3.465, 5.522),
+              "BLUE_PODIUM_SPEAKER_INTERSECTION"),
+          new VisionInterpolationData(
+              new Translation2d(5.481, 6.842),
+              new Translation2d(5.481, 6.842),
+              "BLUE_WING_LINE_MIDDLE"),
+          new VisionInterpolationData(
+              new Translation2d(2.741, 4.202),
+              new Translation2d(2.741, 4.202),
               "BLUE_FRONT_PODIUM_MIDDLE")));
 
   public final List<VisionInterpolationData> redSet;