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Splits 2025 AprilTag Maps #7781

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merged 2 commits into from
Feb 14, 2025
Merged

Splits 2025 AprilTag Maps #7781

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2af82b3
Splits 2025 AprilTag Maps
Kevin-OConnor Feb 14, 2025
26923c3
Add field lengths and widths
Kevin-OConnor Feb 14, 2025
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8 changes: 5 additions & 3 deletions apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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10 changes: 7 additions & 3 deletions apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
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Expand Up @@ -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

Expand All @@ -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");
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8 changes: 5 additions & 3 deletions apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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23 changes: 23 additions & 0 deletions apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.csv
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Original file line number Diff line number Diff line change
@@ -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
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