From d88eff2f84268e9c4d06e92f099517e7fac2585d Mon Sep 17 00:00:00 2001 From: Michael Mikovsky <77305074+Astatin3@users.noreply.github.com> Date: Thu, 6 Feb 2025 13:23:16 -0700 Subject: [PATCH] Forgot to remove variables --- src/main/java/frc4388/robot/subsystems/Vision.java | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index b9d4122..a66a00a 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -51,8 +51,6 @@ public class Vision extends Subsystem { private Pose2d lastPhysOdomPose = new Pose2d(); private Matrix curStdDevs; - private final PhotonPoseEstimator photonEstimatorLeft; - private final PhotonPoseEstimator photonEstimatorRight; private Field2d field = new Field2d(); @@ -86,8 +84,8 @@ public class Vision extends Subsystem { this.cameras = new PhotonCamera[]{leftCamera, rightCamera}; - photonEstimatorLeft = new PhotonPoseEstimator(FieldConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, VisionConstants.LEFT_CAMERA_POS); - photonEstimatorRight = new PhotonPoseEstimator(FieldConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, VisionConstants.RIGHT_CAMERA_POS); + PhotonPoseEstimator photonEstimatorLeft = new PhotonPoseEstimator(FieldConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, VisionConstants.LEFT_CAMERA_POS); + PhotonPoseEstimator photonEstimatorRight = new PhotonPoseEstimator(FieldConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, VisionConstants.RIGHT_CAMERA_POS); photonEstimatorLeft.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); photonEstimatorRight.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);