Use new filteredPoses method to close race condition

frc-862 · Jan 26, 2024 · 962bf42 · 962bf42
1 parent 120eddc
commit 962bf42
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -64,8 +64,7 @@ public void simulationPeriodic() {
 
     @Override
     public void periodic() {
-        for (Limelight limelight : Limelight.filterLimelights(limelights)) {
-            Pose4d pose = limelight.getAlliancePose();
+        for (Pose4d pose : Limelight.filteredPoses(limelights)) {
             addVisionMeasurement(pose.toPose2d(), pose.getFPGATimestamp());
         }