docs: add note about MT1 and single-tag distance limits

FRC3636 · Jan 13, 2025 · 88386d4 · 88386d4
1 parent 14667e0
commit 88386d4
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/AbsolutePose.kt b/src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/AbsolutePose.kt
@@ -143,11 +143,14 @@ class LimelightPoseProvider(
     companion object {
         /**
          * The acceptable distance for a single-April-Tag reading.
+         *
+         * This is a somewhat conservative limit, but it is only applied when using the old MegaTag v1 algorithm.
+         * It's possible it could be increased if it's too restrictive.
          */
         private val MAX_SINGLE_TAG_DISTANCE = Meters.of(3.0)!!
 
         /**
-         * The acceptable ambiguity for a single-tag reading.
+         * The acceptable ambiguity for a single-tag reading on MegaTag v1.
          */
         private const val AMBIGUITY_THRESHOLD = 0.7