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Remove bad logs -> master #289

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c5d08ba
vision vison
Nitay4 Jul 5, 2026
43e5ac0
sA
itamaroryan Jul 5, 2026
2e3e18b
Merge branch 'master' into remove-bad-logs
greenblitz4590 Jul 5, 2026
a04557c
deleted changes
itamaroryan Jul 5, 2026
31bf028
Merge branch 'remove-bad-logs' of https://github.com/GreenBlitz/Reeee…
itamaroryan Jul 5, 2026
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62 changes: 34 additions & 28 deletions src/main/java/frc/utils/limelight/LimelightHelpers.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation2d;

import java.util.Arrays;
import java.util.Map;

import com.fasterxml.jackson.annotation.JsonFormat;
Expand Down Expand Up @@ -694,15 +693,18 @@ public record PoseEstimate(
double tagSpan,
double avgTagDist,
double avgTagArea,
RawFiducial[] rawFiducials,
// RawFiducial[] rawFiducials,
boolean isMegaTag2
) {

/**
* Instantiates a PoseEstimate object with default values
*/
public PoseEstimate() {
this(new Pose2d(), 0, 0, 0, 0, 0, 0, new RawFiducial[] {}, false);
this(new Pose2d(), 0, 0, 0, 0, 0, 0,
// new RawFiducial[] {},
false
);
}

@Override
Expand All @@ -720,7 +722,8 @@ public boolean equals(Object obj) {
&& Double.compare(that.avgTagDist, avgTagDist) == 0
&& Double.compare(that.avgTagArea, avgTagArea) == 0
&& pose.equals(that.pose)
&& Arrays.equals(rawFiducials, that.rawFiducials);
// && Arrays.equals(rawFiducials, that.rawFiducials)
;
}

}
Expand Down Expand Up @@ -897,7 +900,10 @@ private static PoseEstimate getBotPoseEstimate(String limelightName, String entr
}
}

return new PoseEstimate(pose, adjustedTimestamp, latency, tagCount, tagSpan, tagDist, tagArea, rawFiducials, isMegaTag2);
return new PoseEstimate(pose, adjustedTimestamp, latency, tagCount, tagSpan, tagDist, tagArea,
// rawFiducials,
isMegaTag2
);
}

/**
Expand Down Expand Up @@ -1045,29 +1051,29 @@ public static void printPoseEstimate(PoseEstimate pose) {
System.out.printf("Is MegaTag2: %b%n", pose.isMegaTag2);
System.out.println();

if (pose.rawFiducials == null || pose.rawFiducials.length == 0) {
System.out.println("No RawFiducials data available.");
return;
}

System.out.println("Raw Fiducials Details:");
for (int i = 0; i < pose.rawFiducials.length; i++) {
RawFiducial fiducial = pose.rawFiducials[i];
System.out.printf(" Fiducial #%d:%n", i + 1);
System.out.printf(" ID: %d%n", fiducial.id);
System.out.printf(" TXNC: %.2f%n", fiducial.txnc);
System.out.printf(" TYNC: %.2f%n", fiducial.tync);
System.out.printf(" TA: %.2f%n", fiducial.ta);
System.out.printf(" Distance to Camera: %.2f meters%n", fiducial.distToCamera);
System.out.printf(" Distance to Robot: %.2f meters%n", fiducial.distToRobot);
System.out.printf(" Ambiguity: %.2f%n", fiducial.ambiguity);
System.out.println();
}
}

public static Boolean validPoseEstimate(PoseEstimate pose) {
return pose != null && pose.rawFiducials != null && pose.rawFiducials.length != 0;
}
// if (pose.rawFiducials == null || pose.rawFiducials.length == 0) {
// System.out.println("No RawFiducials data available.");
// return;
// }

// System.out.println("Raw Fiducials Details:");
// for (int i = 0; i < pose.rawFiducials.length; i++) {
// RawFiducial fiducial = pose.rawFiducials[i];
// System.out.printf(" Fiducial #%d:%n", i + 1);
// System.out.printf(" ID: %d%n", fiducial.id);
// System.out.printf(" TXNC: %.2f%n", fiducial.txnc);
// System.out.printf(" TYNC: %.2f%n", fiducial.tync);
// System.out.printf(" TA: %.2f%n", fiducial.ta);
// System.out.printf(" Distance to Camera: %.2f meters%n", fiducial.distToCamera);
// System.out.printf(" Distance to Robot: %.2f meters%n", fiducial.distToRobot);
// System.out.printf(" Ambiguity: %.2f%n", fiducial.ambiguity);
// System.out.println();
// }
}

// public static Boolean validPoseEstimate(PoseEstimate pose) {
// return pose != null && pose.rawFiducials != null && pose.rawFiducials.length != 0;
// }

public static NetworkTable getLimelightNTTable(String tableName) {
return NetworkTableInstance.getDefault().getTable(sanitizeName(tableName));
Expand Down
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