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Added a code example for the PhotonPoseEstimator Optional #321
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This should follow the style of our other exampled, or PRed to the main repo and made into the RLI in one of our other examples. |
mcm001
reviewed
Feb 1, 2024
| if (result.hasTargets()) { //Make | ||
| var update = photonPoseEstimator.update(); | ||
| Pose3d currentPose3d = update.get().estimatedPose; | ||
| botPose = currentPose3d.toPose2d(); |
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These two variables should have explicit types
| @@ -104,6 +104,15 @@ Calling ``update()`` on your ``PhotonPoseEstimator`` will return an ``EstimatedR | |||
| } | |||
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| You should be updating your `drivetrain pose estimator <https://docs.wpilib.org/en/latest/docs/software/advanced-controls/state-space/state-space-pose-estimators.html>`_ with the result from the ``RobotPoseEstimator`` every loop using ``addVisionMeasurement()``. TODO: add example note | |||
| .. tab-set-code:: | |||
| .. code-block:: java | |||
| var result = photonCam_1.getLatestResult(); | |||
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Also show initialization of this camera explicitly? Also var is discouraged in our docs
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Thank you for the feedback. I will make sure to be way more thorough next time.
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