fixed shooting while moving forwards and backwards for blue alliance

2491-NoMythic · Nov 20, 2024 · f1b1ea5 · f1b1ea5
1 parent ba5af94
commit f1b1ea5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
@@ -324,7 +324,7 @@ public void updateOdometryWithVision() {
 			}
 			if(!doRejectUpdate) {
 				Logger.recordOutput("Vision/MergesPose", estimate.pose);
-				odometer.addVisionMeasurement(new Pose2d(estimate.pose.getX(), estimate.pose.getY(), getGyroscopeRotation()), estimate.timestampSeconds);
+				odometer.addVisionMeasurement(estimate.pose, estimate.timestampSeconds);
 			}
 			RobotState.getInstance().LimelightsUpdated = true;
 		} else {