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[apriltag] Add AprilTagFieldLayout.loadField() (#6377)

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This commit is contained in:
Joseph Eng
2024-02-17 21:12:59 -08:00
committed by GitHub
parent 02aed35c6e
commit 0ad6b3acb3
10 changed files with 80 additions and 59 deletions
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4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.ComputerVisionUtil;
import edu.wpi.first.math.VecBuilder;
@@ -125,7 +126,8 @@ public class Drivetrain {
m_cameraToObjectEntry = cameraToObjectTopic.getEntry(m_defaultVal);
m_objectInField = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField().getTagPose(0).get();
m_objectInField =
AprilTagFieldLayout.loadField(AprilTagFields.k2024Crescendo).getTagPose(0).get();
SmartDashboard.putData("Field", m_fieldSim);
SmartDashboard.putData("FieldEstimation", m_fieldApproximation);