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Team302 / 2024Crescendo

MIT License
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Update FaceLeftStage #313

Open witcpalek opened 7 months ago

witcpalek commented 7 months ago

Do this after https://github.com/Team302/2024Crescendo/issues/312

Make this class a subclass of FaceVisionTarget

pragma once

include "frc/geometry/Pose3d.h"

// Team302 Includes

include "chassis/headingStates/FaceVisionTarget.h"

class FaceLeftStage : public FaceVisionTarget { public: FaceLeftStage(); ~FaceLeftStage() = default;

protected: frc::Pose3d GetVisionTargetPose() override; };

FaceLeftStage::FaceLeftStage() : FaceVisionTarget(ChassisOptionEnums::HeadingOption::FACE_LEFT_STAGE) { }

Pose3d FaceLeftStage::GetVisionTargetPose() { int apriltag = (FMSData::GetInstance()->GetAllianceColor() == frc::DriverStation::Alliance::kBlue) ? 15 : 12; DragonAprilTagInifo aprilTagInfo; return aprilTagInfo.Get3DPose(apriltag); }

witcpalek commented 7 months ago 
int aprilTag = (FMSData::GetInstance()->GetAllianceColor() == frc::DriverStation::kBlue ? FaceTarget::BLUE_AMP : FaceTarget::RED_AMP);
return frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo).GetTagPose()l;