The coordinate systems that the limelight deals with are numerous and potentially different from those that the drivetrain uses. m_drivetrain.seedFieldRelative(limelightRobotPos) could help rectify this mistake, but if that coordinate system is entirely different from the one otherwise used from the robot, then that would be a disconnect between before and after the limelight aims. That's bad.
Here is an overview of the coordinate systems used by the limelight. The coordinate system for the drivetrain has no documentation.
The coordinate systems that the limelight deals with are numerous and potentially different from those that the drivetrain uses.
m_drivetrain.seedFieldRelative(limelightRobotPos)could help rectify this mistake, but if that coordinate system is entirely different from the one otherwise used from the robot, then that would be a disconnect between before and after the limelight aims. That's bad. Here is an overview of the coordinate systems used by the limelight. The coordinate system for the drivetrain has no documentation.