Package frc.robot.lib.BLine

Class FlippingUtil

java.lang.Object
frc.robot.lib.BLine.FlippingUtil
public class FlippingUtil extends Object

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static enum 
    FlippingUtil.FieldSymmetry
    Enum representing the different types of field symmetry

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static double
    fieldSizeX
    The X size or length of the current field in meters
    static double
    fieldSizeY
    The Y size or width of the current field in meters
    static FlippingUtil.FieldSymmetry
    symmetryType
    The type of symmetry for the current field

  • Constructor Summary

    Constructors
    Constructor
    Description
    FlippingUtil()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static double[]
    flipFeedforwards(double[] feedforwards)
    Flip an array of drive feedforwards for the other side of the field.
    static double[]
    flipFeedforwardXs(double[] feedforwardXs)
    Flip an array of drive feedforward X components for the other side of the field.
    static double[]
    flipFeedforwardYs(double[] feedforwardYs)
    Flip an array of drive feedforward Y components for the other side of the field.
    static edu.wpi.first.math.geometry.Pose2d
    flipFieldPose(edu.wpi.first.math.geometry.Pose2d pose)
    Flip a field pose to the other side of the field, maintaining a blue alliance origin
    static edu.wpi.first.math.geometry.Translation2d
    flipFieldPosition(edu.wpi.first.math.geometry.Translation2d pos)
    Flip a field position to the other side of the field, maintaining a blue alliance origin
    static edu.wpi.first.math.geometry.Rotation2d
    flipFieldRotation(edu.wpi.first.math.geometry.Rotation2d rotation)
    Flip a field rotation to the other side of the field, maintaining a blue alliance origin
    static edu.wpi.first.math.kinematics.ChassisSpeeds
    flipFieldSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds fieldSpeeds)
    Flip field relative chassis speeds for the other side of the field, maintaining a blue alliance origin

    Methods inherited from class java.lang.Object

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

  • Field Details

    • symmetryType

      public static FlippingUtil.FieldSymmetry symmetryType
      The type of symmetry for the current field

    • fieldSizeX

      public static double fieldSizeX
      The X size or length of the current field in meters

    • fieldSizeY

      public static double fieldSizeY
      The Y size or width of the current field in meters

  • Constructor Details

    • FlippingUtil

      public FlippingUtil()

  • Method Details

    • flipFieldPosition

      public static edu.wpi.first.math.geometry.Translation2d flipFieldPosition(edu.wpi.first.math.geometry.Translation2d pos)
      Flip a field position to the other side of the field, maintaining a blue alliance origin
      Parameters:
      pos - The position to flip
      Returns:
      The flipped position

    • flipFieldRotation

      public static edu.wpi.first.math.geometry.Rotation2d flipFieldRotation(edu.wpi.first.math.geometry.Rotation2d rotation)
      Flip a field rotation to the other side of the field, maintaining a blue alliance origin
      Parameters:
      rotation - The rotation to flip
      Returns:
      The flipped rotation

    • flipFieldPose

      public static edu.wpi.first.math.geometry.Pose2d flipFieldPose(edu.wpi.first.math.geometry.Pose2d pose)
      Flip a field pose to the other side of the field, maintaining a blue alliance origin
      Parameters:
      pose - The pose to flip
      Returns:
      The flipped pose

    • flipFieldSpeeds

      public static edu.wpi.first.math.kinematics.ChassisSpeeds flipFieldSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds fieldSpeeds)
      Flip field relative chassis speeds for the other side of the field, maintaining a blue alliance origin
      Parameters:
      fieldSpeeds - Field relative chassis speeds
      Returns:
      Flipped speeds

    • flipFeedforwards

      public static double[] flipFeedforwards(double[] feedforwards)
      Flip an array of drive feedforwards for the other side of the field. Only does anything if mirrored symmetry is used
      Parameters:
      feedforwards - Array of drive feedforwards
      Returns:
      The flipped feedforwards

    • flipFeedforwardXs

      public static double[] flipFeedforwardXs(double[] feedforwardXs)
      Flip an array of drive feedforward X components for the other side of the field. Only does anything if mirrored symmetry is used
      Parameters:
      feedforwardXs - Array of drive feedforward X components
      Returns:
      The flipped feedforward X components

    • flipFeedforwardYs

      public static double[] flipFeedforwardYs(double[] feedforwardYs)
      Flip an array of drive feedforward Y components for the other side of the field. Only does anything if mirrored symmetry is used
      Parameters:
      feedforwardYs - Array of drive feedforward Y components
      Returns:
      The flipped feedforward Y components