worked on camera placement

Team334 · Feb 25, 2025 · ce0cb32 · ce0cb32
1 parent 432175e
commit ce0cb32
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -113,7 +113,7 @@ public static class VisionConstants {
     public static final VisionPoseEstimatorConstants arducamOne =
         new VisionPoseEstimatorConstants(
             arducamOneName,
-            new Transform3d(new Translation3d(0, 0, 1), new Rotation3d()),
+            new Transform3d(new Translation3d(0, 0.3, 1), new Rotation3d(0, 1, -Math.PI / 2)),
             0.2,
             0.0001,
             3,

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -598,6 +598,9 @@ private void updateVisionPoseEstimates() {
 
       var estimates = cam.getNewEstimates();
 
+      DogLog.log(
+          "Swerve/" + cam.camName + " Position", new Pose3d(getPose()).transformBy(cam.robotToCam));
+
       // process estimates
       estimates.forEach(
           (estimate) -> {