fix limelight fps input

team4909 · Apr 12, 2024 · 7e828e6 · 7e828e6
1 parent cd530d8
commit 7e828e6
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/vision/GamePieceDetection.java b/src/main/java/frc/robot/vision/GamePieceDetection.java
@@ -6,7 +6,7 @@
 import org.littletonrobotics.junction.Logger;
 
 public class GamePieceDetection {
-  private final double kMinimumTargetAreaPercent = 1.7;
+  private final double kMinimumTargetAreaPercent = 0.8;
   private final GamePieceDetectionIO m_io;
   private final GamePieceDetectionIOInputsAutoLogged m_inputs =
       new GamePieceDetectionIOInputsAutoLogged();
@@ -20,7 +20,7 @@ public class GamePieceDetection {
   public final DoubleSupplier horizontalErrorDeg =
       () ->
           m_inputs.targetHorizontalOffsetDegrees
-              * (Constants.onRedAllianceSupplier.getAsBoolean() ? -1 : 1);
+              * (Constants.onRedAllianceSupplier.getAsBoolean() ? 1 : -1);
 
   public GamePieceDetection(GamePieceDetectionIO io) {
     m_io = io;

diff --git a/src/main/java/frc/robot/vision/GamePieceDetectionIOLimelight.java b/src/main/java/frc/robot/vision/GamePieceDetectionIOLimelight.java
@@ -22,7 +22,7 @@ public void updateInputs(GamePieceDetectionIOInputs inputs) {
     inputs.targetArea = m_limelightTable.getEntry("ta").getDouble(0.0);
     inputs.targetHorizontalOffsetDegrees = m_limelightTable.getEntry("tx").getDouble(0.0);
     inputs.targetVerticalOffsetDegrees = m_limelightTable.getEntry("ty").getDouble(0.0);
-    inputs.fps = (int) m_limelightTable.getEntry("hw").getDoubleArray(new double[] {0.0})[0];
+    inputs.fps = (int) m_limelightTable.getEntry("hw").getDoubleArray(new double[] {0.0})[3];
 
     double currentHeartbeatValue = m_limelightTable.getEntry("hb").getDouble(0.0);
     if (m_lastHeartbeatValue != currentHeartbeatValue) {