Added left/right vision cameras

DevilBotz2876 · Apr 5, 2024 · 50ff1b1 · 50ff1b1
1 parent 1f3282e
commit 50ff1b1
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/commands/auto/AutoNamedCommands.java b/src/main/java/frc/robot/commands/auto/AutoNamedCommands.java
@@ -51,7 +51,9 @@ public static class AutoConstants {
             28, ArmConstants.noteScoreAngleInDegrees, ShooterConstants.velocityInRPM);
     public static AutoScoreConstants scoreFromBetween2and3 =
         new AutoScoreConstants(
-            11, ArmConstants.subwooferScoreFromPodiumAngleInDegrees, ShooterConstants.velocityInRPM);
+            11,
+            ArmConstants.subwooferScoreFromPodiumAngleInDegrees,
+            ShooterConstants.velocityInRPM);
   }
 
   public static void configure() {

diff --git a/src/main/java/frc/robot/config/RobotConfigInferno.java b/src/main/java/frc/robot/config/RobotConfigInferno.java
@@ -148,25 +148,28 @@ public RobotConfigInferno() {
                 new Translation3d(0.3048, 0, 0.22),
                 new Rotation3d(0, Units.degreesToRadians(-30), Units.degreesToRadians(0)))));
 
-    /*
     cameras.add(
         new VisionCamera(
             "right",
             "1196",
             new Transform3d(
                 new Translation3d(
-                    -Units.inchesToMeters(5.25), -Units.inchesToMeters(11.25), Units.inchesToMeters(7)),
-                new Rotation3d(0, Units.degreesToRadians(-30), Units.degreesToRadians(-90)))));
+                    -Units.inchesToMeters(5.25),
+                    -Units.inchesToMeters(11.25),
+                    Units.inchesToMeters(7)),
+                new Rotation3d(0, Units.degreesToRadians(-32), Units.degreesToRadians(-90)))));
 
     cameras.add(
         new VisionCamera(
             "left",
             "1190",
             new Transform3d(
                 new Translation3d(
-                    -Units.inchesToMeters(5.25), Units.inchesToMeters(11.25), Units.inchesToMeters(7)),
-                new Rotation3d(0, Units.degreesToRadians(-30), Units.degreesToRadians(90)))));
-    */
+                    -Units.inchesToMeters(5.25),
+                    Units.inchesToMeters(11.25),
+                    Units.inchesToMeters(7)),
+                new Rotation3d(0, Units.degreesToRadians(-32), Units.degreesToRadians(90)))));
+
     VisionConstants.visionDistanceOffsetInMeters = -0.2;
     vision = new VisionSubsystem(cameras, AprilTagFields.k2024Crescendo.loadAprilTagLayoutField());