Package com.ctre.phoenix6.configs

Class FovParamsConfigs

java.lang.Object
com.ctre.phoenix6.configs.FovParamsConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable
public class FovParamsConfigs extends Object implements ParentConfiguration
Configs that affect the ToF Field of View

Includes range and center configs

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    double
    FOVCenterX
    Specifies the target center of the Field of View in the X direction.
    double
    FOVCenterY
    Specifies the target center of the Field of View in the Y direction.
    double
    FOVRangeX
    Specifies the target range of the Field of View in the X direction.
    double
    FOVRangeY
    Specifies the target range of the Field of View in the Y direction.

  • Constructor Summary

    Constructors
    Constructor
    Description
    FovParamsConfigs()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    StatusCode
    deserialize(String to_deserialize)
     
    edu.wpi.first.units.measure.Angle
    getFOVCenterXMeasure()
    Helper method to get this configuration's FOVCenterX parameter converted to a unit type.
    edu.wpi.first.units.measure.Angle
    getFOVCenterYMeasure()
    Helper method to get this configuration's FOVCenterY parameter converted to a unit type.
    edu.wpi.first.units.measure.Angle
    getFOVRangeXMeasure()
    Helper method to get this configuration's FOVRangeX parameter converted to a unit type.
    edu.wpi.first.units.measure.Angle
    getFOVRangeYMeasure()
    Helper method to get this configuration's FOVRangeY parameter converted to a unit type.
    String
    serialize()
     
    String
    toString()
     
    FovParamsConfigs
    withFOVCenterX(double newFOVCenterX)
    Modifies this configuration's FOVCenterX parameter and returns itself for method-chaining and easier to use config API.
    FovParamsConfigs
    withFOVCenterX(edu.wpi.first.units.measure.Angle newFOVCenterX)
    Modifies this configuration's FOVCenterX parameter and returns itself for method-chaining and easier to use config API.
    FovParamsConfigs
    withFOVCenterY(double newFOVCenterY)
    Modifies this configuration's FOVCenterY parameter and returns itself for method-chaining and easier to use config API.
    FovParamsConfigs
    withFOVCenterY(edu.wpi.first.units.measure.Angle newFOVCenterY)
    Modifies this configuration's FOVCenterY parameter and returns itself for method-chaining and easier to use config API.
    FovParamsConfigs
    withFOVRangeX(double newFOVRangeX)
    Modifies this configuration's FOVRangeX parameter and returns itself for method-chaining and easier to use config API.
    FovParamsConfigs
    withFOVRangeX(edu.wpi.first.units.measure.Angle newFOVRangeX)
    Modifies this configuration's FOVRangeX parameter and returns itself for method-chaining and easier to use config API.
    FovParamsConfigs
    withFOVRangeY(double newFOVRangeY)
    Modifies this configuration's FOVRangeY parameter and returns itself for method-chaining and easier to use config API.
    FovParamsConfigs
    withFOVRangeY(edu.wpi.first.units.measure.Angle newFOVRangeY)
    Modifies this configuration's FOVRangeY parameter and returns itself for method-chaining and easier to use config API.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • FOVCenterX

      public double FOVCenterX
      Specifies the target center of the Field of View in the X direction.

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: -11.8
      • Maximum Value: 11.8
      • Default Value: 0
      • Units: deg

    • FOVCenterY

      public double FOVCenterY
      Specifies the target center of the Field of View in the Y direction.

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: -11.8
      • Maximum Value: 11.8
      • Default Value: 0
      • Units: deg

    • FOVRangeX

      public double FOVRangeX
      Specifies the target range of the Field of View in the X direction. This is the full range of the FOV.

      The magnitude of this is capped to abs(27 - 2*FOVCenterX).

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: 6.75
      • Maximum Value: 27
      • Default Value: 27
      • Units: deg

    • FOVRangeY

      public double FOVRangeY
      Specifies the target range of the Field of View in the Y direction. This is the full range of the FOV.

      The magnitude of this is capped to abs(27 - 2*FOVCenterY).

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: 6.75
      • Maximum Value: 27
      • Default Value: 27
      • Units: deg

  • Constructor Details

  • Method Details

    • withFOVCenterX

      public FovParamsConfigs withFOVCenterX(double newFOVCenterX)
      Modifies this configuration's FOVCenterX parameter and returns itself for method-chaining and easier to use config API.

      Specifies the target center of the Field of View in the X direction.

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: -11.8
      • Maximum Value: 11.8
      • Default Value: 0
      • Units: deg
      Parameters:
      newFOVCenterX - Parameter to modify
      Returns:
      Itself

    • withFOVCenterX

      public FovParamsConfigs withFOVCenterX(edu.wpi.first.units.measure.Angle newFOVCenterX)
      Modifies this configuration's FOVCenterX parameter and returns itself for method-chaining and easier to use config API.

      Specifies the target center of the Field of View in the X direction.

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: -11.8
      • Maximum Value: 11.8
      • Default Value: 0
      • Units: deg
      Parameters:
      newFOVCenterX - Parameter to modify
      Returns:
      Itself

    • getFOVCenterXMeasure

      public edu.wpi.first.units.measure.Angle getFOVCenterXMeasure()
      Helper method to get this configuration's FOVCenterX parameter converted to a unit type. If not using the Java units library, FOVCenterX can be accessed directly instead.

      Specifies the target center of the Field of View in the X direction.

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: -11.8
      • Maximum Value: 11.8
      • Default Value: 0
      • Units: deg
      Returns:
      FOVCenterX

    • withFOVCenterY

      public FovParamsConfigs withFOVCenterY(double newFOVCenterY)
      Modifies this configuration's FOVCenterY parameter and returns itself for method-chaining and easier to use config API.

      Specifies the target center of the Field of View in the Y direction.

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: -11.8
      • Maximum Value: 11.8
      • Default Value: 0
      • Units: deg
      Parameters:
      newFOVCenterY - Parameter to modify
      Returns:
      Itself

    • withFOVCenterY

      public FovParamsConfigs withFOVCenterY(edu.wpi.first.units.measure.Angle newFOVCenterY)
      Modifies this configuration's FOVCenterY parameter and returns itself for method-chaining and easier to use config API.

      Specifies the target center of the Field of View in the Y direction.

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: -11.8
      • Maximum Value: 11.8
      • Default Value: 0
      • Units: deg
      Parameters:
      newFOVCenterY - Parameter to modify
      Returns:
      Itself

    • getFOVCenterYMeasure

      public edu.wpi.first.units.measure.Angle getFOVCenterYMeasure()
      Helper method to get this configuration's FOVCenterY parameter converted to a unit type. If not using the Java units library, FOVCenterY can be accessed directly instead.

      Specifies the target center of the Field of View in the Y direction.

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: -11.8
      • Maximum Value: 11.8
      • Default Value: 0
      • Units: deg
      Returns:
      FOVCenterY

    • withFOVRangeX

      public FovParamsConfigs withFOVRangeX(double newFOVRangeX)
      Modifies this configuration's FOVRangeX parameter and returns itself for method-chaining and easier to use config API.

      Specifies the target range of the Field of View in the X direction. This is the full range of the FOV.

      The magnitude of this is capped to abs(27 - 2*FOVCenterX).

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: 6.75
      • Maximum Value: 27
      • Default Value: 27
      • Units: deg
      Parameters:
      newFOVRangeX - Parameter to modify
      Returns:
      Itself

    • withFOVRangeX

      public FovParamsConfigs withFOVRangeX(edu.wpi.first.units.measure.Angle newFOVRangeX)
      Modifies this configuration's FOVRangeX parameter and returns itself for method-chaining and easier to use config API.

      Specifies the target range of the Field of View in the X direction. This is the full range of the FOV.

      The magnitude of this is capped to abs(27 - 2*FOVCenterX).

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: 6.75
      • Maximum Value: 27
      • Default Value: 27
      • Units: deg
      Parameters:
      newFOVRangeX - Parameter to modify
      Returns:
      Itself

    • getFOVRangeXMeasure

      public edu.wpi.first.units.measure.Angle getFOVRangeXMeasure()
      Helper method to get this configuration's FOVRangeX parameter converted to a unit type. If not using the Java units library, FOVRangeX can be accessed directly instead.

      Specifies the target range of the Field of View in the X direction. This is the full range of the FOV.

      The magnitude of this is capped to abs(27 - 2*FOVCenterX).

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: 6.75
      • Maximum Value: 27
      • Default Value: 27
      • Units: deg
      Returns:
      FOVRangeX

    • withFOVRangeY

      public FovParamsConfigs withFOVRangeY(double newFOVRangeY)
      Modifies this configuration's FOVRangeY parameter and returns itself for method-chaining and easier to use config API.

      Specifies the target range of the Field of View in the Y direction. This is the full range of the FOV.

      The magnitude of this is capped to abs(27 - 2*FOVCenterY).

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: 6.75
      • Maximum Value: 27
      • Default Value: 27
      • Units: deg
      Parameters:
      newFOVRangeY - Parameter to modify
      Returns:
      Itself

    • withFOVRangeY

      public FovParamsConfigs withFOVRangeY(edu.wpi.first.units.measure.Angle newFOVRangeY)
      Modifies this configuration's FOVRangeY parameter and returns itself for method-chaining and easier to use config API.

      Specifies the target range of the Field of View in the Y direction. This is the full range of the FOV.

      The magnitude of this is capped to abs(27 - 2*FOVCenterY).

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: 6.75
      • Maximum Value: 27
      • Default Value: 27
      • Units: deg
      Parameters:
      newFOVRangeY - Parameter to modify
      Returns:
      Itself

    • getFOVRangeYMeasure

      public edu.wpi.first.units.measure.Angle getFOVRangeYMeasure()
      Helper method to get this configuration's FOVRangeY parameter converted to a unit type. If not using the Java units library, FOVRangeY can be accessed directly instead.

      Specifies the target range of the Field of View in the Y direction. This is the full range of the FOV.

      The magnitude of this is capped to abs(27 - 2*FOVCenterY).

      The exact value may be different for different CANrange devices due to imperfections in the sensing silicon.

      • Minimum Value: 6.75
      • Maximum Value: 27
      • Default Value: 27
      • Units: deg
      Returns:
      FOVRangeY

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • deserialize

      public StatusCode deserialize(String to_deserialize)
      Specified by:
      deserialize in interface ParentConfiguration

    • serialize

      public String serialize()
      Specified by:
      serialize in interface ISerializable