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fixed estimator #29

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Merged
pix-xl merged 1 commit into from
Mar 29, 2025
Merged

fixed estimator #29

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8 changes: 4 additions & 4 deletions src/main/java/frc/robot/vision/PoseEstimatorSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -146,10 +146,10 @@ public void periodic() {

// Set the pose on the dashboard
var dashboardPose = poseEstimator.getEstimatedPosition();
// if (originPosition == kRedAllianceWallRightSide) {
// // Flip the pose when red, since the dashboard field photo cannot be rotated
// dashboardPose = flipAlliance(dashboardPose);
// }
if (originPosition == kRedAllianceWallRightSide) {
// Flip the pose when red, since the dashboard field photo cannot be rotated
dashboardPose = flipAlliance(dashboardPose);
}
field2d.setRobotPose(dashboardPose);
SmartDashboard.putString("Pose Formatted", getFomattedPose());

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8 changes: 4 additions & 4 deletions src/main/java/frc/robot/vision/VisionConfig.java
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Original file line number Diff line number Diff line change
Expand Up @@ -45,12 +45,12 @@ public class VisionConfig {
public static final Transform3d[] ROBOT_TO_CAM_TRANSFORMS = new Transform3d[] {
//left cam
new Transform3d(
new Translation3d(Units.inchesToMeters(11.882),Units.inchesToMeters(11.020),Units.inchesToMeters(6.767)),
new Rotation3d(0,Units.degreesToRadians(15),Units.degreesToRadians(-20))),
new Translation3d(Units.inchesToMeters(-11.882),Units.inchesToMeters(-11.020),Units.inchesToMeters(6.767)),
new Rotation3d(0,Units.degreesToRadians(15),Units.degreesToRadians(160))),
//right cam
new Transform3d(
new Translation3d(Units.inchesToMeters(11.882),Units.inchesToMeters(-11.020),Units.inchesToMeters(6.767)),
new Rotation3d(0, Units.degreesToRadians(15), Units.degreesToRadians(20)))
new Translation3d(Units.inchesToMeters(-11.882),Units.inchesToMeters(11.020),Units.inchesToMeters(6.767)),
new Rotation3d(0, Units.degreesToRadians(15), Units.degreesToRadians(-160)))
};

// Creates field layout for AprilTags
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