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NOTE vision #15

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Alextopher
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Alextopher
Alextopher commented May 15, 2024
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@AraucariaA

src/main/java/frc/robot/subsystems/SwerveSubsystem.java Outdated Show resolved Hide resolved
src/main/java/frc/robot/subsystems/SwerveSubsystem.java Show resolved Hide resolved
src/main/java/frc/robot/subsystems/Vision.java Outdated

return yaw;
} else {
return 360;
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@Alextopher Alextopher May 15, 2024 •
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I don't feel good about 360 here. Are you sure this function is returning degrees or radians? Just to be safe I would return 0.

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My biggest concerns is we should look at the units of all of the angles being used here. Using Rotation2d everywhere would be safer in that sense.

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@Alextopher @AraucariaA