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Run multitag on coprocessor (#816)

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This commit is contained in:
Matt
2023-10-17 10:20:00 -04:00
committed by GitHub
parent ededc4f130
commit 47bd077bbb
72 changed files with 1708 additions and 1801 deletions
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3
photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Vision.java
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@@ -56,7 +56,8 @@ public class Vision {
camera = new PhotonCamera(kCameraName);
photonEstimator =
new PhotonPoseEstimator(kTagLayout, PoseStrategy.MULTI_TAG_PNP, camera, kRobotToCam);
new PhotonPoseEstimator(
kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, camera, kRobotToCam);
photonEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);
// ----- Simulation