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Quick switch to swerve odometry

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This commit is contained in:
nathanrsxtn
2022-03-22 18:18:04 -06:00
parent cb31146e02
commit b17ab324e4
3 changed files with 27 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/VisionOdometry.java
+9 -9
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@@ -146,15 +146,15 @@ public class VisionOdometry extends SubsystemBase {
return m_camera.getLEDMode() != VisionLEDMode.kOff;
}
public void updateOdometryWithVision(){
try {
m_drive.m_poseEstimator.addVisionMeasurement(
getVisionOdometry(),
Timer.getFPGATimestamp() - getLatency());
} catch (VisionObscuredException err) {
err.printStackTrace();
}
}
// public void updateOdometryWithVision(){
// try {
// m_drive.m_poseEstimator.addVisionMeasurement(
// getVisionOdometry(),
// Timer.getFPGATimestamp() - getLatency());
// } catch (VisionObscuredException err) {
// err.printStackTrace();
// }
// }
/** Reverse 3d projects target points from screen coordinates to 3d space
* <p>