swerve drive docstrings #5
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JacksonElia
reviewed
Oct 29, 2024
| public static final long BUILD_UNIX_TIME = 1730052644497L; | ||
| public static final int DIRTY = 1; | ||
| public static final int GIT_REVISION = 25; | ||
| public static final String GIT_SHA = "3b5012c7524895e7c511a707a351c6a1f9225018"; |
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The commit id I believe; it is automatically generated when built
Ishan1522
commented
Oct 29, 2024
| @@ -55,6 +53,11 @@ public void calculatePoseFromLimelight(int limelightNumber) { | |||
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| double distanceFromClosestAprilTag = vision.getLimelightAprilTagDistance(limelightNumber); | |||
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| // Depending on how many april tags we see, we change our confidence as more april tags | |||
| // results in a much more accurate pose estimate | |||
| // TODO: check if this is necessary anymore with MT2, also we might want to set the limelight | |||
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check if what is necessary?
Ishan1522
commented
Oct 29, 2024
| // results in a much more accurate pose estimate | ||
| // TODO: check if this is necessary anymore with MT2, also we might want to set the limelight | ||
| // so it only uses 1 april tag, if they set up the field wrong (they can set april tags +-1 inch I believe) | ||
| // using multiple *could* really mess things up. |
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nope. see image
from here.
… swerve code a bit. this boutta break the code
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