Vision Constant Update

src/main/java/frc/robot/vision/VisionConfig.java

@@ -1,5 +1,56 @@
 package frc.robot.vision;
 
+import org.photonvision.PhotonCamera;
+
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.util.Units;
+
 public class VisionConfig {
 
+    //Creates camera names; ensure these all match with the correct camera on the Photonvison Dashboard
+    public static final String centerPoseCamName = "Center_Pose_Cam";
+    public static final String leftPoseCamName = "Left_Pose_Cam";
+    public static final String rightPoseCamName = "Right_Pose_Cam";
+    public static final String driveCamName = "Drive_Cam";
+
+
+    //Creates all Photoncameras that will be used in pose estimator and commands
+    public static PhotonCamera centerCam = new PhotonCamera(centerPoseCamName);
+    public static PhotonCamera leftCam = new PhotonCamera(leftPoseCamName);
+    public static PhotonCamera rightCam = new PhotonCamera(rightPoseCamName);
+    public static PhotonCamera driveCam = new PhotonCamera(driveCamName);
+
+    //Creates field layout for AprilTags
+    public static AprilTagFields aprilTagField = AprilTagFields.k2025Reefscape;
+
+
+    //TODO: config 
+    public static final Transform3d robotToCenterCam = 
+        new Transform3d(
+            new Translation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), Units.inchesToMeters(0)),
+            new Rotation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), Units.inchesToMeters(0)) 
+        );
+
+    public static final Transform3d robotToLeftCam = 
+        new Transform3d(
+            new Translation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), Units.inchesToMeters(0)),
+            new Rotation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), Units.inchesToMeters(0)) 
+        );
+
+    public static final Transform3d robotToRightCam = 
+        new Transform3d(
+            new Translation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), Units.inchesToMeters(0)),
+            new Rotation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), Units.inchesToMeters(0)) 
+        );
+
+    public static final Transform3d robotToDriveCam =
+        new Transform3d(
+            new Translation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), Units.inchesToMeters(0)),
+            new Rotation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), Units.inchesToMeters(0))
+        );
+
+
 }

src/main/java/frc/robot/vision/VisionPoseEstimator.java

@@ -1,5 +1,7 @@
 package frc.robot.vision;
 
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+
 public class VisionPoseEstimator {
 
 }