Package frc.robot.subsystems.apriltagvision.config

Class AprilTagVisionSubsystemConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.config.AbstractSubsystemConfig

frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

public class AprilTagVisionSubsystemConfig
extends AbstractSubsystemConfig

Configuration bundle for the AprilTag vision subsystem. Values are mirrored to SmartDashboard so they can be tuned live without redeploying firmware.

Includes the field layout type selector so each robot variant (competition, test, sim) can specify its own AprilTag field layout in the subsystems JSON file.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	AprilTagVisionSubsystemConfig.CameraTransform	Nested class for JSON deserialization of camera transforms.
static enum	AprilTagVisionSubsystemConfig.FieldLayoutType	Enumerates the supported AprilTag field layouts for the 2026 game.

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

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
static final String	ANDY_MARK_FIELD	Enum name of the AndyMark field layout to load.
Map<String,AprilTagVisionSubsystemConfig.CameraTransform>	cameras	Camera names and their robot-to-camera transforms.
AprilTagVisionSubsystemConfig.FieldLayoutType	fieldType	Field type selector used to pick between field layouts.
static final String	ORIGIN	Enum name for the AprilTag layout origin to apply.
PoseFilterConfig	poseFilter	Pose quality filters and trust parameters.
static final String	SHOP_FIELD	Deploy-relative path for the shop field layout.
static final String	WELDED_FIELD	Enum name of the welded field layout to load.

Fields inherited from class frc.robot.shared.config.AbstractSubsystemConfig

enabled, verbose

Constructor Summary

Constructors

Constructor	Description
AprilTagVisionSubsystemConfig()

Method Summary

Modifier and Type	Method	Description
Map<String,AprilTagVisionSubsystemConfig.CameraTransform>	getCameras()	Returns the configured camera map.
AprilTagVisionSubsystemConfig.FieldLayoutType	getFieldType()	Returns the configured field type selector.
PoseFilterConfig	getPoseFilter()	Returns the pose filter configuration.
edu.wpi.first.apriltag.AprilTagFieldLayout	loadLayout()	Builds an AprilTag field layout using the configured field type and origin.

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

getVerbose

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

WELDED_FIELD

public static final String WELDED_FIELD

Enum name of the welded field layout to load.

See Also:

• Constant Field Values

ANDY_MARK_FIELD

public static final String ANDY_MARK_FIELD

Enum name of the AndyMark field layout to load.

See Also:

• Constant Field Values

SHOP_FIELD

public static final String SHOP_FIELD

Deploy-relative path for the shop field layout.

See Also:

• Constant Field Values

ORIGIN

public static final String ORIGIN

Enum name for the AprilTag layout origin to apply.

See Also:

• Constant Field Values

fieldType

public AprilTagVisionSubsystemConfig.FieldLayoutType fieldType

Field type selector used to pick between field layouts.

cameras

public Map<String,AprilTagVisionSubsystemConfig.CameraTransform> cameras

Camera names and their robot-to-camera transforms. Each transform defines the camera position relative to robot center: (x forward, y left, z up).

poseFilter

public PoseFilterConfig poseFilter

Pose quality filters and trust parameters. Grouped into a sub-config so they can be tuned as a unit from the dashboard or adjusted in the deploy JSON.

Constructor Details

AprilTagVisionSubsystemConfig

public AprilTagVisionSubsystemConfig()

Method Details

getCameras

public Map<String,AprilTagVisionSubsystemConfig.CameraTransform> getCameras()

Returns the configured camera map.

Returns:

map of camera names to robot-to-camera transforms

getPoseFilter

public PoseFilterConfig getPoseFilter()

Returns the pose filter configuration.

Returns:

pose filter sub-config with all filtering thresholds

getFieldType

public AprilTagVisionSubsystemConfig.FieldLayoutType getFieldType()

Returns the configured field type selector.

Use this to determine which AprilTag field layout is loaded for pose estimation.

Returns:

selected field layout type

loadLayout

public edu.wpi.first.apriltag.AprilTagFieldLayout loadLayout()

Builds an AprilTag field layout using the configured field type and origin.

Call this once during subsystem construction so tags can be accessed with getTagPose(int) for navigation targets.

Returns:

loaded AprilTag field layout with the configured origin applied

Throws:

IllegalArgumentException - when the configured enum names are invalid