Package frc.robot.shared.field

Class FieldTargetSelector

java.lang.Object

frc.robot.shared.field.FieldTargetSelector

public class FieldTargetSelector
extends Object

Selects the active field target for the turret based on the robot's position and alliance color.

When the robot is in its alliance zone, the turret aims at the Alliance Hub. When the robot is in the neutral zone (collecting fuel), the turret aims at whichever alliance-zone rally point is closer based on the robot's Y position. All positions are configured from the Blue alliance perspective and mirrored at runtime for Red.

Constructor Summary

Constructors

Constructor	Description
FieldTargetSelector(FieldTargetConfig config, Supplier<edu.wpi.first.math.geometry.Pose2d> robotPoseSupplier, Supplier<Optional<edu.wpi.first.wpilibj.DriverStation.Alliance>> allianceSupplier)	Creates a field target selector that evaluates position and alliance each time a target is requested.

Method Summary

Modifier and Type	Method	Description
String	getActiveTargetName()	Returns a human-readable name for the active field target based on the robot's current zone and alliance.
edu.wpi.first.math.geometry.Translation2d	getActiveTargetPosition()	Computes the active field target position based on the robot's current zone and alliance.

Methods inherited from class java.lang.Object

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

Constructor Details

FieldTargetSelector

public FieldTargetSelector(FieldTargetConfig config,
 Supplier<edu.wpi.first.math.geometry.Pose2d> robotPoseSupplier,
 Supplier<Optional<edu.wpi.first.wpilibj.DriverStation.Alliance>> allianceSupplier)

Creates a field target selector that evaluates position and alliance each time a target is requested.

Parameters:

config - field target positions and zone boundaries loaded from JSON

robotPoseSupplier - supplier for the robot's current estimated pose in meters and radians

allianceSupplier - supplier for the current alliance color

Method Details

getActiveTargetPosition

public edu.wpi.first.math.geometry.Translation2d getActiveTargetPosition()

Computes the active field target position based on the robot's current zone and alliance.

Call this each cycle to get the turret's tracking target. The returned position accounts for alliance-based coordinate mirroring so callers always receive field-relative meters.

Returns:

field-relative target position in meters

getActiveTargetName

public String getActiveTargetName()

Returns a human-readable name for the active field target based on the robot's current zone and alliance.

Use this for operator telemetry so drivers can see whether the turret is aiming at the hub or a rally point.

Returns:

display name of the active target: "Hub", "Left Rally", or "Right Rally"