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Corrected indices used to index observation data in limelight example #135

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Corrected indices used to index observation data in limelight example #135

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14 changes: 7 additions & 7 deletions template_projects/vision/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ public void updateInputs(VisionIOInputs inputs) {
List<PoseObservation> poseObservations = new LinkedList<>();
for (var rawSample : megatag1Subscriber.readQueue()) {
if (rawSample.value.length == 0) continue;
for (int i = 10; i < rawSample.value.length; i += 7) {
for (int i = 11; i < rawSample.value.length; i += 7) {
tagIds.add((int) rawSample.value[i]);
}
poseObservations.add(
Expand All @@ -90,20 +90,20 @@ public void updateInputs(VisionIOInputs inputs) {
parsePose(rawSample.value),

// Ambiguity, using only the first tag because ambiguity isn't applicable for multitag
rawSample.value.length >= 17 ? rawSample.value[16] : 0.0,
rawSample.value.length >= 18 ? rawSample.value[17] : 0.0,

// Tag count
(int) rawSample.value[8],
(int) rawSample.value[7],

// Average tag distance
rawSample.value[10],
rawSample.value[9],

// Observation type
PoseObservationType.MEGATAG_1));
}
for (var rawSample : megatag2Subscriber.readQueue()) {
if (rawSample.value.length == 0) continue;
for (int i = 10; i < rawSample.value.length; i += 7) {
for (int i = 11; i < rawSample.value.length; i += 7) {
tagIds.add((int) rawSample.value[i]);
}
poseObservations.add(
Expand All @@ -118,10 +118,10 @@ public void updateInputs(VisionIOInputs inputs) {
0.0,

// Tag count
(int) rawSample.value[8],
(int) rawSample.value[7],

// Average tag distance
rawSample.value[10],
rawSample.value[9],

// Observation type
PoseObservationType.MEGATAG_2));
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