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This commit is contained in:
Michael Mikovsky
2025-01-11 11:26:10 -07:00
parent 33629e9fdb
commit 84faad46c4
2 changed files with 5 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -3
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@@ -279,9 +279,7 @@ public final class Constants {
public static final class VisionConstants { public static final class VisionConstants {
public static final String CAMERA_NAME = "Camera_Module_v1"; public static final String CAMERA_NAME = "Camera_Module_v1";
public static final Rotation2d ROTATE_BY = Rotation2d.fromDegrees(180); public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(.3048, 0.2413, .2794), new Rotation3d(0,0.52333,Math.PI));
public static final Transform3d CAMERA_POS = new Transform3d(new Translation3d(.3048, .2413, .2794), new Rotation3d(0,0.52333,0));
public static final AprilTagFieldLayout kTagLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField(); public static final AprilTagFieldLayout kTagLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
src/main/java/frc4388/robot/subsystems/Vision.java
+4 -2
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@@ -106,12 +106,14 @@ public class Vision extends Subsystem {
} }
lastVisionPose = EstimatedRobotPose.get().estimatedPose.toPose2d(); lastVisionPose = EstimatedRobotPose.get().estimatedPose.toPose2d();
// lastVisionPose.rotateBy(lastVisionPose.getRotation().minus(lastPhysOdomPose.getRotation()));
// lastVisionPose = new Pose2d( // lastVisionPose = new Pose2d(
// new Translation2d(lastVisionPose.getY(), lastVisionPose.getX()), // lastVisionPose.getTranslation(),
// lastVisionPose.getRotation() // lastPhysOdomPose.getRotation()
// ); // );
field.setRobotPose(getPose2d()); field.setRobotPose(getPose2d());