[#520] - replaced pipeline swaps with filter swaps

frc-862 · Apr 4, 2024 · 38e9c56 · 38e9c56
1 parent 3cc479b
commit 38e9c56
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Showing 3 changed files with 8 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -369,6 +369,9 @@ public class VisionConstants {
         public static final Translation3d BLUE_SPEAKER_LOCATION = new Translation3d(0, 5.547593, 1.2);
         public static final Translation3d RED_SPEAKER_LOCATION = new Translation3d(16.4592, 5.547593, 1.2);
 
+        public static final int[] SPEAKER_FILTERS = {4, 7};
+        public static final int[] ALL_TAG_FILTERS  = {1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16};
+
 
         public static class LimelightOrientation {
             public static final double STOPME_YAW = 180d;

diff --git a/src/main/java/frc/robot/command/ComboPoint.java b/src/main/java/frc/robot/command/ComboPoint.java
@@ -110,7 +110,8 @@ public void initialize() {
             targetPose = swapAlliance(originalTargetPose);
         }
 
-        stopMe.setPipeline(VisionConstants.Pipelines.SPEAKER_PIPELINE);
+        // stopMe.setPipeline(VisionConstants.Pipelines.SPEAKER_PIPELINE);
+        stopMe.setFiducialIDFiltersOverride(VisionConstants.SPEAKER_FILTERS);
         targetBias = 0;//5.5d;
 
         System.out.println("DRIVE - COMBO POINT START");
@@ -204,7 +205,8 @@ public void updateLogging() {
     @Override
     public void end(boolean interrupted) {
         System.out.println("DRIVE - COMBO POINT END");
-        stopMe.setPipeline(VisionConstants.Pipelines.TAG_PIPELINE);
+        // stopMe.setPipeline(VisionConstants.Pipelines.TAG_PIPELINE);
+        stopMe.setFiducialIDFiltersOverride(VisionConstants.ALL_TAG_FILTERS);
         if (DriverStation.isAutonomous()) {
             drivetrain.setField(0d, 0d, 0d);
         }

diff --git a/src/main/java/frc/robot/subsystems/Limelights.java b/src/main/java/frc/robot/subsystems/Limelights.java
@@ -110,5 +110,5 @@ public void setOrientations(){
 
         // champs.setRobotOrientation(0, 0, 0, 0, 0, 0);
     }
-    
+
 }