From 50ff1b10c97bae69b45052f5b5558cd9445d7663 Mon Sep 17 00:00:00 2001
From: Nilesh Agarwalla <nilesh@alum.mit.edu>
Date: Thu, 4 Apr 2024 21:27:39 -0400
Subject: [PATCH] Added left/right vision cameras

---
 .../robot/commands/auto/AutoNamedCommands.java    |  4 +++-
 .../java/frc/robot/config/RobotConfigInferno.java | 15 +++++++++------
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/commands/auto/AutoNamedCommands.java b/src/main/java/frc/robot/commands/auto/AutoNamedCommands.java
index f9e248d8..e9918faa 100644
--- 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
index bcc27ae8..8862d2e9 100644
--- a/src/main/java/frc/robot/config/RobotConfigInferno.java
+++ b/src/main/java/frc/robot/config/RobotConfigInferno.java
@@ -148,15 +148,16 @@ 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(
@@ -164,9 +165,11 @@ public RobotConfigInferno() {
             "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());