From 88386d44c8622838194b8b934d1ca4d5e84fa184 Mon Sep 17 00:00:00 2001 From: doinkythederp Date: Sun, 12 Jan 2025 18:21:24 -0800 Subject: [PATCH] docs: add note about MT1 and single-tag distance limits --- .../frc2025/subsystems/drivetrain/AbsolutePose.kt | 5 ++++- 1 file changed, 4 insertions(+), 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 index f7d0a9a..25c320d 100644 --- 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