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aschokking
reviewed
Mar 29, 2025
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| if (aprilTagData.isPresent()) { | ||
| lastKnownHorizontalErrorMeters = aprilTagData.get().getY() + getHorizontalTrimAdjustmentMeters(); | ||
| lastKnownHorizontalErrorMeters = aprilTagData.get().getY() + getHorizontalTrimAdjustmentMeters() + branchOffsetMeters; |
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⭐ ⭐ is this really the only place we need to update? I thought there was at least 1 other spot getHorizontalTrimAdjustmentMeters() was being called
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It was being called when creating the alignmentPointOffset (Translation2d) but I have updated it as well.
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Why are we doing this?
Allows us to have specific horizontal branch offsets
Asana task URL:
Whats changing?
auto elastic layout, OperatorCommandMap, AlignCameraToAprilTagCalculator
Questions/notes for reviewers
How this was tested
Video/screenshots (from simulator or live robot)
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