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FRCTeam3255 / 2024_Robot_Code

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Potential Drivetrain Vision Error #280

Closed TaylerUva closed 3 months ago

TaylerUva commented 4 months ago

https://github.com/FRCTeam3255/2024_Robot_Code/blob/f7a345f80529aee1af39ea074f42d22735cb98e9/src/main/java/frc/robot/subsystems/Drivetrain.java#L87-L94

https://github.com/FRCTeam3255/2024_Robot_Code/blob/f7a345f80529aee1af39ea074f42d22735cb98e9/src/main/java/frc/robot/RobotPreferences.java#L200-L217

I believe these are being saved as meters when they are then being converted to feet in these lines

TaylerUva commented 4 months ago

@ACat701 would this be the source of the vision issues we were seeing?

ACat701 commented 4 months ago

No, the issue was in the pose that was returned by the Photonvision pose estimator. The pose that was being given to the pose estimator was wrong, so the standard deviations won't have any effect on that

I definitely did forget to remove the unit conversion though! I need to go check the units on all of our javadocs haha