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Optimization and improvements

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This commit is contained in:
Michael Mikovsky
2025-03-03 16:32:27 -07:00
parent 97630fe2b4
commit 204ba6d511
7 changed files with 74 additions and 34 deletions
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src/main/java/frc4388/robot/subsystems/Vision.java
+3 -2
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@@ -48,7 +48,7 @@ public class Vision extends Subsystem {
private boolean isTagDetected = false;
private boolean isTagProcessed = false;
private Pose2d lastVisionPose = new Pose2d();
public Pose2d lastVisionPose = new Pose2d();
private Pose2d lastPhysOdomPose = new Pose2d();
private Matrix<N3, N1> curStdDevs;
@@ -265,7 +265,8 @@ public class Vision extends Subsystem {
public Pose2d getPose2d() {
if(isTagDetected && isTagProcessed)
return lastVisionPose;
// return lastVisionPose;
return lastPhysOdomPose;
else
return lastPhysOdomPose;
}