Package edu.wpi.first.wpilibj.smartdashboard

Class Field2d

java.lang.Object

edu.wpi.first.wpilibj.smartdashboard.Field2d

All Implemented Interfaces:

NTSendable, Sendable, AutoCloseable

public class Field2d
extends Object
implements NTSendable, AutoCloseable

2D representation of game field for dashboards.

An object's pose is the location shown on the dashboard view. Note that for the robot, this may or may not match the internal odometry. For example, the robot is shown at a particular starting location, the pose in this class would represent the actual location on the field, but the robot's internal state might have a 0,0,0 pose (unless it's initialized to something different).

As the user is able to edit the pose, code performing updates should get the robot pose, transform it as appropriate (e.g. based on wheel odometry), and set the new pose.

This class provides methods to set the robot pose, but other objects can also be shown by using the getObject() function. Other objects can also have multiple poses (which will show the object at multiple locations).

Constructor Summary

Constructors

Constructor	Description
Field2d()	Constructor.

Method Summary

Modifier and Type	Method	Description
void	close()
FieldObject2d	getObject(String name)	Get or create a field object.
FieldObject2d	getRobotObject()	Get the robot object.
Pose2d	getRobotPose()	Get the robot pose.
void	initSendable(NTSendableBuilder builder)	Initializes this Sendable object.
void	setRobotPose(double xMeters, double yMeters, Rotation2d rotation)	Set the robot pose from x, y, and rotation.
void	setRobotPose(Pose2d pose)	Set the robot pose from a Pose object.

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.networktables.NTSendable

initSendable

Constructor Details

Field2d

public Field2d()

Constructor.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

setRobotPose

public void setRobotPose(Pose2d pose)

Set the robot pose from a Pose object.

Parameters:

pose - 2D pose

setRobotPose

public void setRobotPose(double xMeters,
 double yMeters,
 Rotation2d rotation)

Set the robot pose from x, y, and rotation.

Parameters:

xMeters - X location, in meters

yMeters - Y location, in meters

rotation - rotation

getRobotPose

public Pose2d getRobotPose()

Get the robot pose.

Returns:

2D pose

getObject

public FieldObject2d getObject(String name)

Get or create a field object.

Parameters:

name - The field object's name.

Returns:

Field object

getRobotObject

public FieldObject2d getRobotObject()

Get the robot object.

Returns:

Field object for robot

initSendable

public void initSendable(NTSendableBuilder builder)

Description copied from interface: NTSendable

Initializes this Sendable object.

Specified by:

initSendable in interface NTSendable

Parameters:

builder - sendable builder