Add 2021 field to Spline UI
Change-Id: Ic2e86a0c42e76e4e61b5ee34c95dc743d409c8b8
diff --git a/frc971/control_loops/python/constants.py b/frc971/control_loops/python/constants.py
index 14c2afc..2c94169 100644
--- a/frc971/control_loops/python/constants.py
+++ b/frc971/control_loops/python/constants.py
@@ -1,4 +1,5 @@
from gi.repository import Gtk
+from collections import namedtuple
window = Gtk.Window()
screen = window.get_screen()
@@ -17,23 +18,103 @@
ROBOT_SIDE_TO_HATCH_PANEL = 0.1
HATCH_PANEL_WIDTH = 0.4826
-FIELD = 2020
+FieldType = namedtuple(
+ 'Field', ['name', 'tags', 'year', 'width', 'length', 'json_name'])
-if FIELD == 2019:
- # Half Field
- WIDTH_OF_FIELD_IN_METERS = 8.258302
-elif FIELD == 2020:
- # Full Field
- WIDTH_OF_FIELD_IN_METERS = 15.98295
- LENGTH_OF_FIELD_IN_METERS = 8.21055
+GALACTIC_SEARCH = "Galactic Search"
+ARED = "A Red"
+BRED = "B Red"
+ABLUE = "A Blue"
+BBLUE = "B Blue"
+AUTONAV = "AutoNav"
+BOUNCE = "Bounce"
+SLALOM = "Slalom"
+BARREL = "Barrel"
+
+FIELDS = {
+ "2019 Field":
+ FieldType(
+ "2019 Field",
+ tags=[],
+ year=2019,
+ width=8.258302,
+ length=8.258302,
+ json_name="spline_2019.json"),
+ "2020 Field":
+ FieldType(
+ "2020 Field",
+ tags=[],
+ year=2020,
+ width=15.98295,
+ length=8.21055,
+ json_name="spline_2020.json"),
+ "2021 Galactic Search BRed":
+ FieldType(
+ "2021 Galactic Search BRed",
+ tags=[GALACTIC_SEARCH, BRED],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="spline_red_a.json"),
+ "2021 Galactic Search ARed":
+ FieldType(
+ "2021 Galactic Search ARed",
+ tags=[GALACTIC_SEARCH, ARED],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="spline_red_b.json"),
+ "2021 Galactic Search BBlue":
+ FieldType(
+ "2021 Galactic Search BBlue",
+ tags=[GALACTIC_SEARCH, BBLUE],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="spline_blue_b.json"),
+ "2021 Galactic Search ABlue":
+ FieldType(
+ "2021 Galactic Search ABlue",
+ tags=[GALACTIC_SEARCH, ABLUE],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="spline_blue_a.json"),
+ "2021 AutoNav Barrel":
+ FieldType(
+ "2021 AutoNav Barrel",
+ tags=[AUTONAV, BARREL],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="autonav_barrel.json"),
+ "2021 AutoNav Slalom":
+ FieldType(
+ "2021 AutoNav Slalom",
+ tags=[AUTONAV, SLALOM],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="autonav_slalom.json"),
+ "2021 AutoNav Bounce":
+ FieldType(
+ "2021 AutoNav Bounce",
+ tags=[AUTONAV, BOUNCE],
+ year=2021,
+ width=9.144,
+ length=4.572,
+ json_name="autonav_bounce.json"),
+}
+
+FIELD = FIELDS["2021 Galactic Search BRed"]
def pxToM(p):
- return p * WIDTH_OF_FIELD_IN_METERS / SCREEN_SIZE
+ return p * FIELD.width / SCREEN_SIZE
def mToPx(m):
- return (m * SCREEN_SIZE / WIDTH_OF_FIELD_IN_METERS)
+ return (m * SCREEN_SIZE / FIELD.width)
def inToM(i):