From 69bb4bc562ae21228ed3465b4b7f52099cc6e780 Mon Sep 17 00:00:00 2001
From: ori agranat <oriagranat9@gmai.com>
Date: Wed, 25 Sep 2019 11:08:59 -0700
Subject: [PATCH] bug fix in calibration

---
 .../java/com/chameleonvision/vision/process/VisionProcess.java  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
index 0d1ef3ec8..88bf71b04 100644
--- a/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
@@ -153,7 +153,7 @@ public class VisionProcess implements Runnable {
 						pipelineResult.CalibratedY = camera.getCamVals().CenterY;
 					} else {
 						pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
-						pipelineResult.CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
+						pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.M) + currentPipeline.B;
 					}
 					pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
 					pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);