[apriltag] Split 2025 AprilTag Maps (#7781)

Splits maps for welded vs AndyMark field perimeters. More info about why and what fields are at what events will be in TU12.
wpilibsuite · Feb 14, 2025 · 23658a8 · 23658a8
1 parent 155b3d4
commit 23658a8
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Showing 7 changed files with 444 additions and 9 deletions.
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
@@ -14,14 +14,16 @@ public enum AprilTagFields {
   k2023ChargedUp("2023-chargedup.json"),
   /** 2024 Crescendo. */
   k2024Crescendo("2024-crescendo.json"),
-  /** 2025 Reefscape. */
-  k2025Reefscape("2025-reefscape.json");
+  /** 2025 Reefscape Welded (see TU 12). */
+  k2025ReefscapeWelded("2025-reefscape-welded.json"),
+  /** 2025 Reefscape AndyMark (see TU 12). */
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
 
   /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2025Reefscape;
+  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
 
   /** Resource filename. */
   public final String m_resourceFile;

diff --git a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
@@ -133,7 +133,8 @@ namespace frc {
 std::string_view GetResource_2022_rapidreact_json();
 std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
-std::string_view GetResource_2025_reefscape_json();
+std::string_view GetResource_2025_reefscape_welded_json();
+std::string_view GetResource_2025_reefscape_andymark_json();
 
 }  // namespace frc
 
@@ -149,8 +150,11 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2024Crescendo:
       fieldString = GetResource_2024_crescendo_json();
       break;
-    case AprilTagField::k2025Reefscape:
-      fieldString = GetResource_2025_reefscape_json();
+    case AprilTagField::k2025ReefscapeWelded:
+      fieldString = GetResource_2025_reefscape_welded_json();
+      break;
+    case AprilTagField::k2025ReefscapeAndyMark:
+      fieldString = GetResource_2025_reefscape_andymark_json();
       break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");

diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h
@@ -20,10 +20,12 @@ enum class AprilTagField {
   k2023ChargedUp,
   /// 2024 Crescendo.
   k2024Crescendo,
-  /// 2025 Reefscape.
-  k2025Reefscape,
+  /// 2025 Reefscape AndyMark (see TU12).
+  k2025ReefscapeAndyMark,
+  /// 2025 Reefscape Welded (see TU12).
+  k2025ReefscapeWelded,
   /// Alias to the current game.
-  kDefaultField = k2025Reefscape,
+  kDefaultField = k2025ReefscapeWelded,
 
   // This is a placeholder for denoting the last supported field. This should
   // always be the last entry in the enum and should not be used by users

diff --git a/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.csv b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.csv
@@ -0,0 +1,23 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,656.98,24.73,58.5,126,0
+2,656.98,291.9,58.5,234,0
+3,452.4,316.21,51.25,270,0
+4,365.2,241.44,73.54,0,30
+5,365.2,75.19,73.54,0,30
+6,530.49,129.97,12.13,300,0
+7,546.87,158.3,12.13,0,0
+8,530.49,186.63,12.13,60,0
+9,497.77,186.63,12.13,120,0
+10,481.39,158.3,12.13,180,0
+11,497.77,129.97,12.13,240,0
+12,33.91,24.73,58.5,54,0
+13,33.91,291.9,58.5,306,0
+14,325.68,241.44,73.54,180,30
+15,325.68,75.19,73.54,180,30
+16,238.49,0.42,51.25,90,0
+17,160.39,129.97,12.13,240,0
+18,144,158.3,12.13,180,0
+19,160.39,186.63,12.13,120,0
+20,193.1,186.63,12.13,60,0
+21,209.49,158.3,12.13,0,0
+22,193.1,129.97,12.13,300,0