Adding whether a given target observation should be considered stale #594
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JohnGilb
reviewed
Apr 2, 2025
| new Rotation2d(), new Transform3d(), 1, true); | ||
| // Using same heartbeat bounce as photonvision: | ||
| // https://github.com/PhotonVision/photonvision/blob/3c332db4bfe9083fc0311ae71cff92de588939ad/photon-lib/src/main/java/org/photonvision/PhotonCamera.java#L107 | ||
| private static final double HEARTBEAT_DEBOUNCE_SEC = 0.5; |
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maybe make this public, so the next time we need to reference it we don't need a copy-paste (I wish PV folks had made this a public constant)
stephenjust
approved these changes
Apr 2, 2025
JohnGilb
approved these changes
Apr 2, 2025
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This might be worth getting in before the next competition as it might be a reason that we relied on old data, but just a hypothesis at the moment.
Heads up that I have an auto-formatter that usually cleans up files.
Why are we doing this?
Seeing if this helps avoid issues where we think we might be getting new camera target and pose data, but really we just have an old camera frame.
Whats changing?
Two new fields on TargetObservation to keep track of when the camera data was added.
Questions/notes for reviewers
How this was tested