From 9722b5f5de6c944ebc4ad1320078f2cbb1142c4a Mon Sep 17 00:00:00 2001 From: Nate Laverdure Date: Sun, 27 Sep 2026 17:39:47 -0400 Subject: [PATCH 1/3] Update camera mount poses for re-enabled vision cameras New camera positions require new mounting angles: pitch uniformly 20 degrees up, yaw uniformly 45 degrees outboard from the nearest robot axis in each quadrant (45 for front cameras, 135 for rear). Co-Authored-By: Claude Sonnet 5 --- .../subsystems/vision/VisionConstants.java | 40 +++++++++---------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java index a5bf33e..e719ca5 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java @@ -33,38 +33,38 @@ public record CameraConfig(String name, Transform3d robotToCamera) {} new CameraConfig( "OV2311_TH_2026_FR", new Transform3d( - Inches.of(-10.572), - Inches.of(-12.337), - Inches.of(16.688), - // pitch 20 degrees up, yaw 55 degrees right - new Rotation3d(new Quaternion(0.8735, -0.0802, -0.1540, -0.4547)))); + Inches.of(11.471), + Inches.of(-9.971), + Inches.of(8.158), + // pitch 20 degrees up, yaw 45 degrees right + new Rotation3d(new Quaternion(0.9098, -0.0665, -0.1604, -0.3769)))); public static CameraConfig FRONT_LEFT_CAMERA = new CameraConfig( "OV2311_TH_2026_FL", new Transform3d( - Inches.of(-10.572), - Inches.of(12.337), - Inches.of(16.688), - // pitch 20 degrees up, yaw 55 degrees left - new Rotation3d(new Quaternion(0.8735, 0.0802, -0.1540, 0.4547)))); + Inches.of(11.471), + Inches.of(9.971), + Inches.of(8.158), + // pitch 20 degrees up, yaw 45 degrees left + new Rotation3d(new Quaternion(0.9098, 0.0665, -0.1604, 0.3769)))); public static CameraConfig BACK_RIGHT_CAMERA = new CameraConfig( "OV2311_TH_2026_RR", new Transform3d( - Inches.of(-13.1623), - Inches.of(-12.1623), - Inches.of(20.26674), - // pitch 15 degrees up, yaw 135 degrees right - new Rotation3d(new Quaternion(-0.3794, 0.1206, 0.0500, 0.9160)))); + Inches.of(-11.471), + Inches.of(-9.971), + Inches.of(8.158), + // pitch 20 degrees up, yaw 135 degrees right + new Rotation3d(new Quaternion(0.3769, -0.1604, -0.0665, -0.9098)))); public static CameraConfig BACK_LEFT_CAMERA = new CameraConfig( "OV2311_TH_2026_RL", new Transform3d( - Inches.of(-13.1623), - Inches.of(12.1623), - Inches.of(20.26674), - // pitch 15 degrees up, yaw 135 degrees left - new Rotation3d(new Quaternion(0.3794, 0.1206, -0.0500, 0.9160)))); + Inches.of(-11.471), + Inches.of(9.971), + Inches.of(8.158), + // pitch 20 degrees up, yaw 135 degrees left + new Rotation3d(new Quaternion(0.3769, 0.1604, -0.0665, 0.9098)))); public static Distance MIN_ROBOT_WIDTH = Inches.of(36.875); From 56f0baa302b4f03a03b97b17dcc66b92ec754c41 Mon Sep 17 00:00:00 2001 From: Nate Laverdure Date: Tue, 29 Sep 2026 17:56:28 -0400 Subject: [PATCH 2/3] update camera names --- .../java/frc/robot/subsystems/vision/VisionConstants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java index e719ca5..71ecbea 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java @@ -31,7 +31,7 @@ public record CameraConfig(String name, Transform3d robotToCamera) {} // Camera configurations (name must match name configured on coprocessor) public static CameraConfig FRONT_RIGHT_CAMERA = new CameraConfig( - "OV2311_TH_2026_FR", + "OV2311_TH_6", new Transform3d( Inches.of(11.471), Inches.of(-9.971), @@ -40,7 +40,7 @@ public record CameraConfig(String name, Transform3d robotToCamera) {} new Rotation3d(new Quaternion(0.9098, -0.0665, -0.1604, -0.3769)))); public static CameraConfig FRONT_LEFT_CAMERA = new CameraConfig( - "OV2311_TH_2026_FL", + "OV2311_TH_5", new Transform3d( Inches.of(11.471), Inches.of(9.971), @@ -49,7 +49,7 @@ public record CameraConfig(String name, Transform3d robotToCamera) {} new Rotation3d(new Quaternion(0.9098, 0.0665, -0.1604, 0.3769)))); public static CameraConfig BACK_RIGHT_CAMERA = new CameraConfig( - "OV2311_TH_2026_RR", + "OV2311_TH_1", new Transform3d( Inches.of(-11.471), Inches.of(-9.971), @@ -58,7 +58,7 @@ public record CameraConfig(String name, Transform3d robotToCamera) {} new Rotation3d(new Quaternion(0.3769, -0.1604, -0.0665, -0.9098)))); public static CameraConfig BACK_LEFT_CAMERA = new CameraConfig( - "OV2311_TH_2026_RL", + "OV2311_TH_7", new Transform3d( Inches.of(-11.471), Inches.of(9.971), From 91ad799eb5cb1c38d0f505190135afb987f4ff40 Mon Sep 17 00:00:00 2001 From: JShriller Date: Tue, 29 Sep 2026 20:15:33 -0400 Subject: [PATCH 3/3] Enabled vision for the cameras to work in the general constants. --- src/main/java/frc/robot/Constants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 28ca972..9f8290f 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -38,7 +38,7 @@ public static final class FeatureFlags { public static final boolean PROFILING_ENABLED = false; public static final boolean LEDS_ENABLED = false; - public static final boolean VISION_ENABLED = false; + public static final boolean VISION_ENABLED = true; } public final class RobotConstants {