changed cam configs so sim doesn't crash

SciBorgs · Sep 4, 2024 · 6609665 · 6609665
1 parent dff9391
commit 6609665
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/vision/Vision.java b/src/main/java/org/sciborgs1155/robot/vision/Vision.java
@@ -41,7 +41,7 @@ public static record PoseEstimate(EstimatedRobotPose estimatedPose, Matrix<N3, N
 
   /** A factory to create new vision classes with our two configured cameras. */
   public static Vision create() {
-    return new Vision();
+    return new Vision(BACK_LEFT_CAMERA, BACK_RIGHT_CAMERA, FRONT_LEFT_CAMERA, FRONT_RIGHT_CAMERA);
   }
 
   public Vision(CameraConfig... configs) {

diff --git a/src/main/java/org/sciborgs1155/robot/vision/VisionConstants.java b/src/main/java/org/sciborgs1155/robot/vision/VisionConstants.java
@@ -5,6 +5,7 @@
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
@@ -16,14 +17,14 @@ public class VisionConstants {
 
   /** TODO: Create cameras with updated constants; be sure to add in {@link Vision#create} */
   public static final CameraConfig BACK_LEFT_CAMERA =
-      new CameraConfig("back left", new Transform3d());
+      new CameraConfig("back left", new Transform3d(1, 1, 1, new Rotation3d()));
 
   public static final CameraConfig BACK_RIGHT_CAMERA =
-      new CameraConfig("back right", new Transform3d());
+      new CameraConfig("back right", new Transform3d(1, 1, 1, new Rotation3d()));
   public static final CameraConfig FRONT_LEFT_CAMERA =
-      new CameraConfig("front left", new Transform3d());
+      new CameraConfig("front left", new Transform3d(1, 1, 1, new Rotation3d()));
   public static final CameraConfig FRONT_RIGHT_CAMERA =
-      new CameraConfig("front right", new Transform3d());
+      new CameraConfig("front right", new Transform3d(1, 1, 1, new Rotation3d()));
 
   // OV9281 constants for our configuration
   public static final int WIDTH = 1280;