From 5e30c924be99eaeb53bdf6ed6bf748cf462aeea0 Mon Sep 17 00:00:00 2001
From: 66945 <54561572+66945@users.noreply.github.com>
Date: Sat, 2 Apr 2022 13:17:12 -0600
Subject: [PATCH] limelight delay

---
 src/main/java/frc4388/robot/subsystems/VisionOdometry.java | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc4388/robot/subsystems/VisionOdometry.java b/src/main/java/frc4388/robot/subsystems/VisionOdometry.java
index 85f4b82..0ff741f 100644
--- a/src/main/java/frc4388/robot/subsystems/VisionOdometry.java
+++ b/src/main/java/frc4388/robot/subsystems/VisionOdometry.java
@@ -44,7 +44,10 @@ public class VisionOdometry extends SubsystemBase {
    * @param shooter The turret subsystem
    */
   public VisionOdometry(SwerveDrive drive, Turret shooter) {
-    m_camera = new PhotonCamera(VisionConstants.NAME);
+    do {
+      m_camera = new PhotonCamera(VisionConstants.NAME);
+    } while(m_camera.getLatestResult().getLatencyMillis() > 0.d);
+
     m_drive = drive;
     m_shooter = shooter;