https://github.com/zachorr/playingfield

Abstraction for field-specific logic for FRC robots
https://github.com/zachorr/playingfield

Last synced: 2 days ago
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Abstraction for field-specific logic for FRC robots

• Host: GitHub
• URL: https://github.com/zachorr/playingfield
• Owner: ZachOrr
• Created: 2022-08-07T16:28:50.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2022-08-13T18:45:40.000Z (over 2 years ago)
• Last Synced: 2024-11-09T12:20:23.696Z (about 1 month ago)
• Language: Java
• Size: 66.4 KB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# PlayingField

PlayingField is a library for [FIRST Robotics Competition robots](https://www.firstinspires.org/robotics/frc) to abstract away field-specific conditionals in to an easy to use set of primitives.

PlayingField allows teams to define complex field regions and quickly determine if a robot is within the defined region. Other helper functions include knowing if a robot is facing the field perimeter.

## Using PlayingField

### In Region

Teams can define a `Region` via a `Polygon` with at least 3 vertices or a `Circle` with a center + radius and test wether a point is within that region with the `PlayingField.inRegion` method.

```java

public boolean isInScoringArea() {

  return PlayingField.inRegion(robot.getTranslation(), scoringArea);

}

```

An example of a circular `Region`

```java

// "Scoring area" is a circle in the center of the field with a 2ft radius

private static Region scoringArea = new Circle(

  new Translation2d(54.0 / 2, 27.0 / 2),

  2.0

);

```

An example of a square `Region`

```java

// "Scoring area" is a 2ft square in the center of the field

private static double fieldHalfLengthFeet = PlayingField.fieldLengthFeet / 2;

private static double fieldHalfHeightFeet = PlayingField.fieldHeightFeet / 2;

private static Region scoringArea = new Polygon(

  new Translation2d(fieldHalfLengthFeet - 1, fieldHalfHeightFeet - 1),

  new Translation2d(fieldHalfLengthFeet - 1, fieldHalfHeightFeet + 1),

  new Translation2d(fieldHalfLengthFeet + 1, fieldHalfHeightFeet - 1),

  new Translation2d(fieldHalfLengthFeet + 1, fieldHalfHeightFeet + 1),

);

```

To maximize performance, `Region`s should be constructed once during boot and reused as opposed to being constructed continuously on a run loop.

Note that `PlayingField.inRegion` excludes points that are on the boundaries of a polygon.

### Facing Field Perimeter

Teams can test wether a robot is facing the field perimeter by using the `PlayingField.isFacingFieldPerimeter` and passing the robot's pose.

```java

public boolean isFacingFieldPerimeter() {

  return PlayingField.isFacingFieldPerimeter(robot.getPose());

}

```

## External Dependencies

`PlayingField` depends on [WPILib's](https://github.com/wpilibsuite) [`math.geometry` primitives](https://github.com/wpilibsuite/allwpilib/tree/main/wpimath/src/main/java/edu/wpi/first/math/geometry) to simplify the API to interface with team's existing code.