Package frc.robot.shared.bindings

Class DpadTargetConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.bindings.DpadTargetConfig

public class DpadTargetConfig
extends AbstractConfig

Configuration for a single d-pad pathfinding target. Stores a field position and heading in blue-alliance coordinates that the robot will pathfind to when the corresponding d-pad button is held.

Set enabled to true and populate the pose fields in the deploy JSON to activate a d-pad direction. When disabled, the corresponding button binding is skipped entirely.

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.shared.config.AbstractConfig

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
boolean	enabled	Whether this d-pad target is active.
double	headingDegrees	Target heading in degrees (blue-alliance perspective).
double	xMeters	X-coordinate of the target position on the field in meters (blue-alliance perspective).
double	yMeters	Y-coordinate of the target position on the field in meters (blue-alliance perspective).

Constructor Summary

Constructors

Constructor	Description
DpadTargetConfig()

Method Summary

Modifier and Type	Method	Description
boolean	getEnabled()	Reads whether this d-pad target is enabled.
double	getHeadingDegrees()	Reads the tunable heading in degrees.
double	getXMeters()	Reads the tunable X-coordinate of the target in meters.
double	getYMeters()	Reads the tunable Y-coordinate of the target in meters.
edu.wpi.first.math.geometry.Pose2d	toPose2d()	Converts the configured target to a WPILib Pose2d in blue-alliance coordinates.

Methods inherited from class frc.robot.shared.config.AbstractConfig

getDashboardPrefix, initializeNestedDashboardPrefixes, readTunableBoolean, readTunableDegrees, readTunableDegreesAsRadians, readTunableNumber, readTunableString, setDashboardPrefix

Methods inherited from class java.lang.Object

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

Field Details

xMeters

public double xMeters

X-coordinate of the target position on the field in meters (blue-alliance perspective).

Positive X points toward the red alliance wall. This value is flipped at runtime when the robot is on the red alliance.

yMeters

public double yMeters

Y-coordinate of the target position on the field in meters (blue-alliance perspective).

Positive Y points toward the left wall when facing the red alliance wall.

headingDegrees

public double headingDegrees

Target heading in degrees (blue-alliance perspective).

0 degrees faces the red alliance wall, 180 degrees faces the blue alliance wall. Flipped at runtime for red alliance.

enabled

public boolean enabled

Whether this d-pad target is active.

When false, the corresponding d-pad button will not be bound to any command. Set to true in the deploy JSON after configuring the target pose.

Constructor Details

DpadTargetConfig

public DpadTargetConfig()

Method Details

getXMeters

public double getXMeters()

Reads the tunable X-coordinate of the target in meters.

Returns:

X position on the field in meters (blue-alliance perspective)

getYMeters

public double getYMeters()

Reads the tunable Y-coordinate of the target in meters.

Returns:

Y position on the field in meters (blue-alliance perspective)

getHeadingDegrees

public double getHeadingDegrees()

Reads the tunable heading in degrees.

Returns:

target heading in degrees (blue-alliance perspective)

getEnabled

public boolean getEnabled()

Reads whether this d-pad target is enabled.

Returns:

true if the target is active and should be bound to the d-pad button

toPose2d

public edu.wpi.first.math.geometry.Pose2d toPose2d()

Converts the configured target to a WPILib Pose2d in blue-alliance coordinates.

Callers are responsible for flipping the returned pose for the red alliance using FlippingUtil.flipFieldPose().

Returns:

field pose with position in meters and heading in degrees converted to a Rotation2d