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Reenable vision: update camera mount poses #56

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Merged
nlaverdure merged 3 commits into from
Sep 30, 2026
Merged

Reenable vision: update camera mount poses #56

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9722b5f
Update camera mount poses for re-enabled vision cameras
nlaverdure Sep 27, 2026
56f0baa
update camera names
nlaverdure Sep 29, 2026
91ad799
Enabled vision for the cameras to work in the general constants.
JShriller Sep 30, 2026
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
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48 changes: 24 additions & 24 deletions src/main/java/frc/robot/subsystems/vision/VisionConstants.java
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Expand Up @@ -31,40 +31,40 @@ 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(-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",
"OV2311_TH_5",
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",
"OV2311_TH_1",
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",
"OV2311_TH_7",
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);

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