fix: sim values as constants

flamingchickens1540 · Feb 1, 2024 · 695f5c3 · 695f5c3
1 parent 1bf8e01
commit 695f5c3
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -92,6 +92,11 @@ public static class Vision {
                 throw new RuntimeException(e);
             }
         }
+        public static final int SIM_RES_WIDTH = 1280;
+        public static final int SIM_RES_HEIGHT = 960;
+        public static final Rotation2d SIM_DIAGONAL_FOV = Rotation2d.fromDegrees(100);
+        public static final double SIM_FPS = 14.5;
+        public static final double SIM_AVG_LATENCY_MS = 67.0;
     }
 
     public static class Elevator {

diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOSim.java
@@ -2,7 +2,6 @@
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Transform3d;
 import org.photonvision.EstimatedRobotPose;
 import org.photonvision.PhotonCamera;
@@ -35,9 +34,9 @@ public AprilTagVisionIOSim(String name, Pose3d cameraOffsetMeters, Supplier<Pose
         visionSystemSim.addAprilTags(SIM_APRILTAG_LAYOUT);
 
         SimCameraProperties cameraProps = new SimCameraProperties();
-        cameraProps.setCalibration(1280, 960, Rotation2d.fromDegrees(100));
-        cameraProps.setFPS(14.5);
-        cameraProps.setAvgLatencyMs(67.0);
+        cameraProps.setCalibration(SIM_RES_WIDTH, SIM_RES_HEIGHT, SIM_DIAGONAL_FOV);
+        cameraProps.setFPS(SIM_FPS);
+        cameraProps.setAvgLatencyMs(SIM_AVG_LATENCY_MS);
         camera = new PhotonCamera(name);
         cameraSim = new PhotonCameraSim(camera, cameraProps);