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[examples] Update april tag family to 36h11 (#6126)

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Changes size to 6.5 inches per https://www.firstinspires.org/robotics/frc/blog/2023-technology-updates-past-present-future-and-beyond
Uses 7 error bit correction as recommended in PhotonVision docs.
This commit is contained in:
sciencewhiz
2023-12-31 22:46:31 -08:00
committed by GitHub
parent f9aabc5ab2
commit 495585b25d
2 changed files with 6 additions and 6 deletions
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6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision/Robot.java
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@@ -39,14 +39,14 @@ public class Robot extends TimedRobot {
void apriltagVisionThreadProc() {
var detector = new AprilTagDetector();
// look for tag16h5, don't correct any error bits
detector.addFamily("tag16h5", 0);
// look for tag136h11, correct 7 error bits
detector.addFamily("tag36h11", 7);
// Set up Pose Estimator - parameters are for a Microsoft Lifecam HD-3000
// (https://www.chiefdelphi.com/t/wpilib-apriltagdetector-sample-code/421411/21)
var poseEstConfig =
new AprilTagPoseEstimator.Config(
0.1524, 699.3778103158814, 677.7161226393544, 345.6059345433618, 207.12741326228522);
0.1651, 699.3778103158814, 677.7161226393544, 345.6059345433618, 207.12741326228522);
var estimator = new AprilTagPoseEstimator(poseEstConfig);
// Get the UsbCamera from CameraServer