Make sure we're logging degrees for camera position calibration

src/main/java/frc/robot/config/RobotConfig.java

@@ -65,14 +65,16 @@ public record VisionConfig(
       double xyStdDev,
       double thetaStdDev,
       InterpolatedVisionDataset interpolatedVisionSet,
+      // Pose of robot (center of bottom of bellypan) relative to the center of callibration rig
+      // AprilTag
       Pose3d robotPoseCalibrationTargetSpace) {}
 
   public record LightsConfig(String canBusName, int deviceID) {}
 
   // TODO: Change this to false during events
   public static final boolean IS_DEVELOPMENT = true;
 
-  public static final boolean IS_CALIBRATION = false;
+  public static final boolean IS_CAMERA_POSITION_CALIBRATION = false;
 
   public static final String SERIAL_NUMBER = System.getenv("serialnum");
 

src/main/java/frc/robot/vision/Limelight.java

@@ -52,20 +52,27 @@ public Optional<VisionResult> getInterpolatedVisionResult() {
     return Optional.of(new VisionResult(interpolatedPose, rawResult.get().timestamp()));
   }
 
-  public void logCalibrationValues() {
-    var leftCameraPoseTargetSpace = LimelightHelpers.getCameraPose3d_TargetSpace(name);
+  public void logCameraPositionCalibrationValues() {
+    var cameraPoseTargetSpace = LimelightHelpers.getCameraPose3d_TargetSpace(name);
     var robotPoseTargetSpace = RobotConfig.get().vision().robotPoseCalibrationTargetSpace();
     var leftCameraRobotRelativePose =
-        getRobotRelativeCameraOffset(robotPoseTargetSpace, leftCameraPoseTargetSpace);
-    DogLog.log("Calibration/" + name + "/Right", leftCameraRobotRelativePose.getX());
-    DogLog.log("Calibration/" + name + "/Up", leftCameraRobotRelativePose.getY());
-    DogLog.log("Calibration/" + name + "/Forward", leftCameraRobotRelativePose.getZ());
-    DogLog.log("Calibration/" + name + "/Roll", leftCameraRobotRelativePose.getRotation().getX());
-    DogLog.log("Calibration/" + name + "/Pitch", leftCameraRobotRelativePose.getRotation().getY());
-    DogLog.log("Calibration/" + name + "/Yaw", leftCameraRobotRelativePose.getRotation().getZ());
+        getRobotRelativeCameraPosition(robotPoseTargetSpace, cameraPoseTargetSpace);
+    DogLog.log("CameraPositionCalibration/" + name + "/Right", leftCameraRobotRelativePose.getX());
+    DogLog.log("CameraPositionCalibration/" + name + "/Up", leftCameraRobotRelativePose.getY());
+    DogLog.log(
+        "CameraPositionCalibration/" + name + "/Forward", leftCameraRobotRelativePose.getZ());
+    DogLog.log(
+        "CameraPositionCalibration/" + name + "/Roll",
+        Units.radiansToDegrees(leftCameraRobotRelativePose.getRotation().getX()));
+    DogLog.log(
+        "CameraPositionCalibration/" + name + "/Pitch",
+        Units.radiansToDegrees(leftCameraRobotRelativePose.getRotation().getY()));
+    DogLog.log(
+        "CameraPositionCalibration/" + name + "/Yaw",
+        Units.radiansToDegrees(leftCameraRobotRelativePose.getRotation().getZ()));
   }
 
-  private Pose3d getRobotRelativeCameraOffset(
+  private Pose3d getRobotRelativeCameraPosition(
       Pose3d robotPoseTargetSpace, Pose3d seenCameraPoseTargetSpace) {
     // Positive X = Right
     var cameraLeftRight = seenCameraPoseTargetSpace.getX();
@@ -74,11 +81,11 @@ private Pose3d getRobotRelativeCameraOffset(
     // Positive Z = Backward, so flipped for common sense
     var cameraForwardBackward = -1 * (seenCameraPoseTargetSpace.getZ());
     // Pitch rotates around left right axis (x according to LL coordinate systems)
-    var cameraPitch = Units.degreesToRadians(seenCameraPoseTargetSpace.getRotation().getX());
+    var cameraPitch = seenCameraPoseTargetSpace.getRotation().getX();
     // Roll rotates around forward backward axis (Z according to LL coordinate systems)
-    var cameraRoll = Units.degreesToRadians(seenCameraPoseTargetSpace.getRotation().getZ());
+    var cameraRoll = seenCameraPoseTargetSpace.getRotation().getZ();
     // Yaw rotates around up down axis (y according to LL coordinate systems)
-    var cameraYaw = Units.degreesToRadians(seenCameraPoseTargetSpace.getRotation().getY());
+    var cameraYaw = seenCameraPoseTargetSpace.getRotation().getY();
 
     var robotLeftRight = robotPoseTargetSpace.getX();
     var robotUpDown = robotPoseTargetSpace.getY();

src/main/java/frc/robot/vision/VisionSubsystem.java

@@ -84,9 +84,9 @@ public void robotPeriodic() {
     DogLog.log("Vision/Left/VisionState", leftLimelight.getState());
     DogLog.log("Vision/Right/VisionState", rightLimelight.getState());
 
-    if (RobotConfig.IS_CALIBRATION) {
-      leftLimelight.logCalibrationValues();
-      rightLimelight.logCalibrationValues();
+    if (RobotConfig.IS_CAMERA_POSITION_CALIBRATION) {
+      leftLimelight.logCameraPositionCalibrationValues();
+      rightLimelight.logCameraPositionCalibrationValues();
     }
   }