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Update to 2024.5.0.3

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thenetworkgrinch
2024-08-24 17:27:03 -05:00
parent 89e4163951
commit 44af2d1978
131 changed files with 705 additions and 416 deletions
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15
swervelib/SwerveDrive.java
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@@ -1064,6 +1064,21 @@ public class SwerveDrive
odometryLock.unlock();
}
/**
* Sets the pose estimator's trust of global measurements. This might be used to change trust in vision measurements
* after the autonomous period, or to change trust as distance to a vision target increases.
*
* @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these numbers to trust
* global measurements from vision less. This matrix is in the form [x, y, theta],
* with units in meters and radians.
*/
public void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs)
{
odometryLock.lock();
swerveDrivePoseEstimator.setVisionMeasurementStdDevs(visionMeasurementStdDevs);
odometryLock.unlock();
}
/**
* Add a vision measurement to the {@link SwerveDrivePoseEstimator} and update the {@link SwerveIMU} gyro reading with
* the given timestamp of the vision measurement.