diff --git a/docs/source/docs/programming/photonlib/robot-pose-estimator.md b/docs/source/docs/programming/photonlib/robot-pose-estimator.md index 6dfd449917..3f5588b54d 100644 --- a/docs/source/docs/programming/photonlib/robot-pose-estimator.md +++ b/docs/source/docs/programming/photonlib/robot-pose-estimator.md @@ -17,12 +17,12 @@ The API documentation can be found in here: [Java](https://github.wpilib.org/all .. code-block:: Java // The field from AprilTagFields will be different depending on the game. - AprilTagFieldLayout aprilTagFieldLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField(); + AprilTagFieldLayout aprilTagFieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); .. code-block:: C++ // The parameter for LoadAPrilTagLayoutField will be different depending on the game. - frc::AprilTagFieldLayout aprilTagFieldLayout = frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo); + frc::AprilTagFieldLayout aprilTagFieldLayout = frc::LoadAprilTagLayoutField(frc::AprilTagField::kDefaultField); .. code-block:: Python @@ -91,7 +91,7 @@ The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (s self.cam = PhotonCamera("YOUR CAMERA NAME") self.camPoseEst = PhotonPoseEstimator( - loadAprilTagLayoutField(AprilTagField.k2024Crescendo), + loadAprilTagLayoutField(AprilTagField.kDefaultField), PoseStrategy.CLOSEST_TO_REFERENCE_POSE, self.cam, kRobotToCam diff --git a/docs/source/docs/simulation/simulation-java.md b/docs/source/docs/simulation/simulation-java.md index 3e1a612eeb..e2a6ece03f 100644 --- a/docs/source/docs/simulation/simulation-java.md +++ b/docs/source/docs/simulation/simulation-java.md @@ -103,7 +103,7 @@ For convenience, an `AprilTagFieldLayout` can also be added to automatically cre .. code-block:: Java // The layout of AprilTags which we want to add to the vision system - AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2024Crescendo.m_resourceFile); + AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.kDefaultField.m_resourceFile); visionSim.addAprilTags(tagLayout); ``` diff --git a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py index a2e7121980..21449f45d1 100644 --- a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py +++ b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py @@ -64,7 +64,7 @@ def __init__( self.videoSimProcEnabled: bool = False self.heartbeatCounter: int = 0 self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp() - self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo) + self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.kDefaultField) self.cam = camera self.prop = props diff --git a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h index ea6591c5c7..42b781f1a6 100644 --- a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h +++ b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h @@ -108,7 +108,7 @@ class PhotonCameraSim { double minTargetAreaPercent; frc::AprilTagFieldLayout tagLayout{ - frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)}; + frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)}; cs::CvSource videoSimRaw; cv::Mat videoSimFrameRaw{}; diff --git a/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h b/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h index b4b23347f4..70a5d74bd5 100644 --- a/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h +++ b/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h @@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{ frc::Translation3d{0.5_m, 0.0_m, 0.5_m}, frc::Rotation3d{0_rad, -30_deg, 0_rad}}; inline const frc::AprilTagFieldLayout kTagLayout{ - frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)}; + frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)}; inline const Eigen::Matrix kSingleTagStdDevs{4, 4, 8}; inline const Eigen::Matrix kMultiTagStdDevs{0.5, 0.5, 1}; diff --git a/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h b/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h index b4b23347f4..70a5d74bd5 100644 --- a/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h +++ b/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h @@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{ frc::Translation3d{0.5_m, 0.0_m, 0.5_m}, frc::Rotation3d{0_rad, -30_deg, 0_rad}}; inline const frc::AprilTagFieldLayout kTagLayout{ - frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)}; + frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)}; inline const Eigen::Matrix kSingleTagStdDevs{4, 4, 8}; inline const Eigen::Matrix kMultiTagStdDevs{0.5, 0.5, 1}; diff --git a/photonlib-cpp-examples/poseest/src/main/include/Constants.h b/photonlib-cpp-examples/poseest/src/main/include/Constants.h index b4b23347f4..70a5d74bd5 100644 --- a/photonlib-cpp-examples/poseest/src/main/include/Constants.h +++ b/photonlib-cpp-examples/poseest/src/main/include/Constants.h @@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{ frc::Translation3d{0.5_m, 0.0_m, 0.5_m}, frc::Rotation3d{0_rad, -30_deg, 0_rad}}; inline const frc::AprilTagFieldLayout kTagLayout{ - frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)}; + frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)}; inline const Eigen::Matrix kSingleTagStdDevs{4, 4, 8}; inline const Eigen::Matrix kMultiTagStdDevs{0.5, 0.5, 1}; diff --git a/photonlib-python-examples/poseest/robot.py b/photonlib-python-examples/poseest/robot.py index 800460c6eb..3dcb0c4712 100644 --- a/photonlib-python-examples/poseest/robot.py +++ b/photonlib-python-examples/poseest/robot.py @@ -43,7 +43,7 @@ def robotInit(self) -> None: self.swerve = drivetrain.Drivetrain() self.cam = PhotonCamera("YOUR CAMERA NAME") self.camPoseEst = PhotonPoseEstimator( - AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo), + AprilTagFieldLayout.loadField(AprilTagField.kDefaultField), PoseStrategy.LOWEST_AMBIGUITY, self.cam, kRobotToCam,