Flip left and right for scoring positions
The driver's perspective is better.
Note that human player station does not flip.
Change-Id: Id8140388993967c7cee519f03732a6abfdc9ebc6
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2023/constants/relative_scoring_map.json b/y2023/constants/relative_scoring_map.json
index b38ff46..e52fcef 100644
--- a/y2023/constants/relative_scoring_map.json
+++ b/y2023/constants/relative_scoring_map.json
@@ -14,7 +14,7 @@
},
"nominal_grid": {
"bottom": {
- "left_cone": {
+ "right_cone": {
"x": -0.559,
"y": 0.463,
"z": -0.254
@@ -24,14 +24,14 @@
"y": 0.463,
"z": -0.254
},
- "right_cone": {
+ "left_cone": {
"x": 0.559,
"y": 0.463,
"z": -0.254
}
},
"middle": {
- "left_cone": {
+ "right_cone": {
"x": -0.559,
"y": -0.407,
"z": 0.217
@@ -41,14 +41,14 @@
"y": -0.407,
"z": 0.217
},
- "right_cone": {
+ "left_cone": {
"x": 0.559,
"y": -0.407,
"z": 0.217
}
},
"top": {
- "left_cone": {
+ "right_cone": {
"x": -0.559,
"y": -0.707,
"z": 0.647
@@ -58,7 +58,7 @@
"y": -0.707,
"z": 0.647
},
- "right_cone": {
+ "left_cone": {
"x": 0.559,
"y": -0.707,
"z": 0.647
@@ -67,14 +67,14 @@
},
"red": {
"substation": 5,
- "left": 3,
+ "right": 3,
"middle": 2,
- "right": 1
+ "left": 1
},
"blue": {
"substation": 4,
- "left": 6,
+ "right": 6,
"middle": 7,
- "right": 8
+ "left": 8
}
}
diff --git a/y2023/constants/scoring_map.json b/y2023/constants/scoring_map.json
index ebb9b38..d0fd408 100644
--- a/y2023/constants/scoring_map.json
+++ b/y2023/constants/scoring_map.json
@@ -16,51 +16,51 @@
"bottom": {
"left_cone": {
"x": 6.99,
- "y": 0.973,
+ "y": -3.497,
"z": 0.0
},
"cube": {
"x": 6.99,
- "y": 0.414,
+ "y": -2.938,
"z": 0.0
},
"right_cone": {
"x": 6.99,
- "y": -0.145,
+ "y": -2.379,
"z": 0.0
}
},
"middle": {
"left_cone": {
"x": 7.461,
- "y": 0.973,
+ "y": -3.497,
"z": 0.87
},
"cube": {
"x": 7.461,
- "y": 0.414,
+ "y": -2.938,
"z": 0.87
},
"right_cone": {
"x": 7.461,
- "y": -0.145,
+ "y": -2.379,
"z": 0.87
}
},
"top": {
"left_cone": {
"x": 7.891,
- "y": 0.973,
+ "y": -3.497,
"z": 1.17
},
"cube": {
"x": 7.891,
- "y": 0.414,
+ "y": -2.938,
"z": 1.17
},
"right_cone": {
"x": 7.891,
- "y": -0.145,
+ "y": -2.379,
"z": 1.17
}
}
@@ -69,7 +69,7 @@
"bottom": {
"left_cone": {
"x": 6.99,
- "y": -0.703,
+ "y": -1.821,
"z": 0.0
},
"cube": {
@@ -79,14 +79,14 @@
},
"right_cone": {
"x": 6.99,
- "y": -1.821,
+ "y": -0.703,
"z": 0.0
}
},
"middle": {
"left_cone": {
"x": 7.461,
- "y": -0.703,
+ "y": -1.821,
"z": 0.87
},
"cube": {
@@ -96,14 +96,14 @@
},
"right_cone": {
"x": 7.461,
- "y": -1.821,
+ "y": -0.703,
"z": 0.87
}
},
"top": {
"left_cone": {
"x": 7.891,
- "y": -0.703,
+ "y": -1.821,
"z": 1.17
},
"cube": {
@@ -113,7 +113,7 @@
},
"right_cone": {
"x": 7.891,
- "y": -1.821,
+ "y": -0.703,
"z": 1.17
}
}
@@ -122,51 +122,51 @@
"bottom": {
"left_cone": {
"x": 6.99,
- "y": -2.379,
+ "y": -0.145,
"z": 0.0
},
"cube": {
"x": 6.99,
- "y": -2.938,
+ "y": 0.414,
"z": 0.0
},
"right_cone": {
"x": 6.99,
- "y": -3.497,
+ "y": 0.973,
"z": 0.0
}
},
"middle": {
"left_cone": {
"x": 7.461,
- "y": -2.379,
+ "y": -0.145,
"z": 0.87
},
"cube": {
"x": 7.461,
- "y": -2.938,
+ "y": 0.414,
"z": 0.87
},
"right_cone": {
"x": 7.461,
- "y": -3.497,
+ "y": 0.973,
"z": 0.87
}
},
"top": {
"left_cone": {
"x": 7.891,
- "y": -2.379,
+ "y": -0.145,
"z": 1.17
},
"cube": {
"x": 7.891,
- "y": -2.938,
+ "y": 0.414,
"z": 1.17
},
"right_cone": {
"x": 7.891,
- "y": -3.497,
+ "y": 0.973,
"z": 1.17
}
}
@@ -189,51 +189,51 @@
"bottom": {
"left_cone": {
"x": -6.989,
- "y": -0.145,
+ "y": -2.379,
"z": 0.0
},
"cube": {
"x": -6.989,
- "y": 0.414,
+ "y": -2.938,
"z": 0.0
},
"right_cone": {
"x": -6.989,
- "y": 0.973,
+ "y": -3.497,
"z": 0.0
}
},
"middle": {
"left_cone": {
"x": -7.46,
- "y": -0.145,
+ "y": -2.379,
"z": 0.87
},
"cube": {
"x": -7.46,
- "y": 0.414,
+ "y": -2.938,
"z": 0.87
},
"right_cone": {
"x": -7.46,
- "y": 0.973,
+ "y": -3.497,
"z": 0.87
}
},
"top": {
"left_cone": {
"x": -7.89,
- "y": -0.145,
+ "y": -2.379,
"z": 1.17
},
"cube": {
"x": -7.89,
- "y": 0.414,
+ "y": -2.938,
"z": 1.17
},
"right_cone": {
"x": -7.89,
- "y": 0.973,
+ "y": -3.497,
"z": 1.17
}
}
@@ -242,7 +242,7 @@
"bottom": {
"left_cone": {
"x": -6.989,
- "y": -1.821,
+ "y": -0.703,
"z": 0.0
},
"cube": {
@@ -252,14 +252,14 @@
},
"right_cone": {
"x": -6.989,
- "y": -0.703,
+ "y": -1.821,
"z": 0.0
}
},
"middle": {
"left_cone": {
"x": -7.46,
- "y": -1.821,
+ "y": -0.703,
"z": 0.87
},
"cube": {
@@ -269,14 +269,14 @@
},
"right_cone": {
"x": -7.46,
- "y": -0.703,
+ "y": -1.821,
"z": 0.87
}
},
"top": {
"left_cone": {
"x": -7.89,
- "y": -1.821,
+ "y": -0.703,
"z": 1.17
},
"cube": {
@@ -286,7 +286,7 @@
},
"right_cone": {
"x": -7.89,
- "y": -0.703,
+ "y": -1.821,
"z": 1.17
}
}
@@ -295,51 +295,51 @@
"bottom": {
"left_cone": {
"x": -6.989,
- "y": -3.497,
+ "y": 0.973,
"z": 0.0
},
"cube": {
"x": -6.989,
- "y": -2.938,
+ "y": 0.414,
"z": 0.0
},
"right_cone": {
"x": -6.989,
- "y": -2.379,
+ "y": -0.145,
"z": 0.0
}
},
"middle": {
"left_cone": {
"x": -7.46,
- "y": -3.497,
+ "y": 0.973,
"z": 0.87
},
"cube": {
"x": -7.46,
- "y": -2.938,
+ "y": 0.414,
"z": 0.87
},
"right_cone": {
"x": -7.46,
- "y": -2.379,
+ "y": -0.145,
"z": 0.87
}
},
"top": {
"left_cone": {
"x": -7.89,
- "y": -3.497,
+ "y": 0.973,
"z": 1.17
},
"cube": {
"x": -7.89,
- "y": -2.938,
+ "y": 0.414,
"z": 1.17
},
"right_cone": {
"x": -7.89,
- "y": -2.379,
+ "y": -0.145,
"z": 1.17
}
}
diff --git a/y2023/control_loops/drivetrain/target_selector_hint.fbs b/y2023/control_loops/drivetrain/target_selector_hint.fbs
index 399d772..357bc21 100644
--- a/y2023/control_loops/drivetrain/target_selector_hint.fbs
+++ b/y2023/control_loops/drivetrain/target_selector_hint.fbs
@@ -3,7 +3,7 @@
namespace y2023.control_loops.drivetrain;
// Which of the grids we are going for.
-// From the perspective of the robot!
+// From the perspective of the driver station!
enum GridSelectionHint : ubyte {
LEFT,
MIDDLE,
@@ -18,7 +18,7 @@
}
// Within a row, which spot to score in.
-// From the perspective of the robot!
+// From the perspective of the driver station!
enum SpotSelectionHint : ubyte {
LEFT,
MIDDLE,
diff --git a/y2023/localizer/scoring_map.fbs b/y2023/localizer/scoring_map.fbs
index 92b48ca..e53ea0b 100644
--- a/y2023/localizer/scoring_map.fbs
+++ b/y2023/localizer/scoring_map.fbs
@@ -2,8 +2,8 @@
namespace y2023.localizer;
-// "left" and "right" in this file are taken from the perspective of a robot
-// on the field.
+// "left" and "right" in this file are taken from the perspective of a driver
+// off the field.
// A row of three scoring positions, where the cube scoring locations will be
// in the middle.