doesn't appear to be a megatag2 impl for 3d poses, so swap to 2d for …

…everything
FRC3476 · Apr 6, 2024 · d6303fd · d6303fd
1 parent af01023
commit d6303fd
Showing 1 changed file with 4 additions and 6 deletions.
diff --git a/src/main/java/org/codeorange/frc2024/subsystem/vision/Vision.java b/src/main/java/org/codeorange/frc2024/subsystem/vision/Vision.java
@@ -72,12 +72,10 @@ private void processVisionData(VisionIO io, VisionIO.VisionInputs inputs) {
 
         //exit if off the field, or too far above or below the ground
         if(
-                inputs.botPose3d.getX() < -fieldBorderMargin
-                        || inputs.botPose3d.getX() > fieldBorderMargin + FIELD_LENGTH_METERS
-                        || inputs.botPose3d.getY() < -fieldBorderMargin
-                        || inputs.botPose3d.getY() > fieldBorderMargin + FIELD_WIDTH_METERS
-                        || inputs.botPose3d.getZ() < -0.4
-                        || inputs.botPose3d.getZ() > 0.1
+                inputs.botPose2d.getX() < -fieldBorderMargin
+                        || inputs.botPose2d.getX() > fieldBorderMargin + FIELD_LENGTH_METERS
+                        || inputs.botPose2d.getY() < -fieldBorderMargin
+                        || inputs.botPose2d.getY() > fieldBorderMargin + FIELD_WIDTH_METERS
         ) return;
 
         //exit if rotation doesn't match gyro measurement