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[photonlib] Invert simulated target yaw (#1243)

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amquake
2024-02-18 17:59:54 -08:00
committed by GitHub
parent 428f926ac2
commit 39216db143
4 changed files with 7 additions and 5 deletions
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photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
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@@ -256,7 +256,8 @@ class VisionSystemSimTest {
cameraSim.setMinTargetAreaPixels(0.0);
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 3));
var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(-1.0 * testYaw));
// If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(testYaw));
visionSysSim.update(robotPose);
var res = camera.getLatestResult();
assertTrue(res.hasTargets());