From 29036e5ff8c068bb6b1a97ffb9cf47fce4e8e282 Mon Sep 17 00:00:00 2001 From: Joseph Eng Date: Sat, 17 Feb 2024 16:52:57 -0800 Subject: [PATCH] Update examples to 2024 --- .../DifferentialDrivePoseEstimator/include/Drivetrain.h | 2 +- .../examples/differentialdriveposeestimator/Drivetrain.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h index c7d723a1afe..633571ef173 100644 --- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h @@ -131,7 +131,7 @@ class Drivetrain { nt::DoubleArrayEntry& m_cameraToObjectEntryRef = m_cameraToObjectEntry; frc::AprilTagFieldLayout m_aprilTagFieldLayout{ - frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2022RapidReact)}; + frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)}; frc::Pose3d m_objectInField{m_aprilTagFieldLayout.GetTagPose(0).value()}; frc::PWMSparkMax m_leftLeader{1}; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java index 009a2bc2aa8..d0c200250b0 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java @@ -127,7 +127,7 @@ public Drivetrain(DoubleArrayTopic cameraToObjectTopic) { m_cameraToObjectEntry = cameraToObjectTopic.getEntry(m_defaultVal); m_objectInField = - AprilTagFieldLayout.loadField(AprilTagFields.k2022RapidReact).getTagPose(0).get(); + AprilTagFieldLayout.loadField(AprilTagFields.k2024Crescendo).getTagPose(0).get(); SmartDashboard.putData("Field", m_fieldSim); SmartDashboard.putData("FieldEstimation", m_fieldApproximation);