minor vision cleanups

redshiftrobotics · Sep 16, 2024 · 552d0b5 · 552d0b5
1 parent ec65936
commit 552d0b5
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Showing 3 changed files with 4 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/subsystems/vision/AprilTagVision.java b/src/main/java/frc/robot/subsystems/vision/AprilTagVision.java
@@ -83,7 +83,7 @@ public void addVisionEstimateConsumer(
     timestampRobotPoseEstimateConsumers.add(timestampRobotPoseEstimateConsumer);
   }
 
-  public Stream<Camera> cameras() {
+  private Stream<Camera> cameras() {
     return Arrays.stream(cameras);
   }
 

diff --git a/src/main/java/frc/robot/subsystems/vision/Camera.java b/src/main/java/frc/robot/subsystems/vision/Camera.java
@@ -25,10 +25,10 @@ public class Camera {
   private static final LoggedTunableNumberGroup group =
       new LoggedTunableNumberGroup("VisionResultsStatus");
 
-  private static final LoggedTunableNumber thetaStdDevCoefficient =
-      group.build("thetaStdDevCoefficient", 0.075);
   private static final LoggedTunableNumber xyStdDevCoefficient =
       group.build("xyStdDevCoefficient", 0.075);
+  private static final LoggedTunableNumber thetaStdDevCoefficient =
+      group.build("thetaStdDevCoefficient", 0.085);
 
   private static final LoggedTunableNumber zHeightToleranceMeters =
       group.build("zHeightToleranceMeters", 0.5);

diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
@@ -9,10 +9,9 @@ public class VisionConstants {
 
   public record CameraConfig(String cameraName, Transform3d robotToCamera) {}
 
-  // TODO find actual values here, as well as in Asset config
   public static final CameraConfig FRONT_CAMERA =
       new CameraConfig(
           "frontCam",
           new Transform3d(
-              new Translation3d(0.805, 0, 0.0762), new Rotation3d(0, 0, Math.toRadians(30))));
+              new Translation3d(0.805, 0, 0), new Rotation3d(0, Math.toRadians(-30), 0)));
 }