tune vision ?

FRCTeam3255 · Mar 18, 2024 · 8ca87bf · 8ca87bf
1 parent 15ea045
commit 8ca87bf
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Showing 3 changed files with 65 additions and 62 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -320,8 +320,9 @@ public static class constVision {
      *      Coordinate System</a>
      */
     public static final Transform3d ROBOT_TO_OV = new Transform3d(
-        new Translation3d(Units.inchesToMeters(11), Units.inchesToMeters(-9.82), Units.inchesToMeters(8)),
-        new Rotation3d(0, Units.degreesToRadians(20), Units.degreesToRadians(-25)));
+        new Translation3d(Units.inchesToMeters(14.5) - 0.045, -(Units.inchesToMeters(14.5) - 0.114),
+            Units.inchesToMeters(8.125)),
+        new Rotation3d(0, Units.degreesToRadians(-19), Units.degreesToRadians(19)));
 
     /**
      * The position, in meters, of the center of the camera lens relative to the
@@ -332,8 +333,10 @@ public static class constVision {
      *      Coordinate System</a>
      */
     public static final Transform3d ROBOT_TO_AR = new Transform3d(
-        new Translation3d(Units.inchesToMeters(11), Units.inchesToMeters(9.82), Units.inchesToMeters(8)),
-        new Rotation3d(0, Units.degreesToRadians(20), Units.degreesToRadians(25)));
+        new Translation3d(Units.inchesToMeters(14.5) - 0.045, Units.inchesToMeters(14.5) - 0.114,
+            Units.inchesToMeters(8.125)),
+        new Rotation3d(0, Units.degreesToRadians(-19), Units.degreesToRadians(19)));
+
   }
 
   public static class constTransfer {

diff --git a/src/main/java/frc/robot/RobotPreferences.java b/src/main/java/frc/robot/RobotPreferences.java
@@ -213,7 +213,7 @@ public static final class prefDrivetrain {
      * <b>Units:</b> Radians
      */
     public static final SN_DoublePreference measurementStdDevsHeading = new SN_DoublePreference(
-        "measurementStdDevsHeading", 10);
+        "measurementStdDevsHeading", 0.1);
   }
 
   public static final class prefIntake {
@@ -703,7 +703,7 @@ public static final class prefVision {
      * <b>Units:</b> Meters
      */
     public static final SN_DoublePreference visionStdDevsPosition = new SN_DoublePreference(
-        "visionStdDevsPosition", 5);
+        "visionStdDevsPosition", 3);
 
     /**
      * <p>
@@ -712,7 +712,7 @@ public static final class prefVision {
      * <b>Units:</b> Radians
      */
     public static final SN_DoublePreference visionStdDevsHeading = new SN_DoublePreference(
-        "visionStdDevsHeading", 500);
+        "visionStdDevsHeading", 0.9);
 
     /**
      * The translational tolerance of how off we want to be to count as correct

diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
@@ -1,57 +1,57 @@
 {
-  "fileName": "photonlib.json",
-  "name": "photonlib",
-  "version": "v2024.2.7",
-  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
-  "frcYear": "2024",
-  "mavenUrls": [
-    "https://maven.photonvision.org/repository/internal",
-    "https://maven.photonvision.org/repository/snapshots"
-  ],
-  "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
-  "jniDependencies": [],
-  "cppDependencies": [
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photonlib-cpp",
-      "version": "v2024.2.8",
-      "libName": "photonlib",
-      "headerClassifier": "headers",
-      "sharedLibrary": true,
-      "skipInvalidPlatforms": true,
-      "binaryPlatforms": [
-        "windowsx86-64",
-        "linuxathena",
-        "linuxx86-64",
-        "osxuniversal"
-      ]
-    },
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photontargeting-cpp",
-      "version": "v2024.2.8",
-      "libName": "photontargeting",
-      "headerClassifier": "headers",
-      "sharedLibrary": true,
-      "skipInvalidPlatforms": true,
-      "binaryPlatforms": [
-        "windowsx86-64",
-        "linuxathena",
-        "linuxx86-64",
-        "osxuniversal"
-      ]
-    }
-  ],
-  "javaDependencies": [
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photonlib-java",
-      "version": "v2024.2.8"
-    },
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photontargeting-java",
-      "version": "v2024.2.8"
-    }
-  ]
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2024.3.0",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-cpp",
+            "version": "v2024.3.0",
+            "libName": "photonlib",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-cpp",
+            "version": "v2024.3.0",
+            "libName": "photontargeting",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photonlib-java",
+            "version": "v2024.3.0"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "photontargeting-java",
+            "version": "v2024.3.0"
+        }
+    ]
 }