From 2e97c95be1e1357d5c93b66be731e16ab8fa48d4 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Sun, 13 Jul 2025 09:23:35 -0400
Subject: [PATCH] Restore original video mode index order (#1999)

---
 .../USBCameras/GenericUSBCameraSettables.java       | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
index 7d923bad8..7d956643e 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -25,9 +25,11 @@ import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.util.PixelFormat;
 import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.Collections;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Optional;
+import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.processes.VisionSourceSettables;
@@ -287,11 +289,14 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
         var sortedList =
                 videoModesList.stream()
                         .distinct() // remove redundant video mode entries
-                        .sorted(((a, b) -> (a.width + a.height) - (b.width + b.height)))
-                        .toList();
+                        .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
+                        .collect(Collectors.toList());
+        // The ordering is usually more logical when done like this. It typically puts higher FPSes
+        // closer to the bottom.
+        Collections.reverse(sortedList);
 
-        for (VideoMode videoMode : sortedList) {
-            videoModes.put(sortedList.indexOf(videoMode), videoMode);
+        for (int i = 0; i < sortedList.size(); i++) {
+            videoModes.put(i, sortedList.get(i));
         }
 
         // If after all that we still have no video modes, not much we can do besides