truher
truher
we have rev, phoenix, navx, and choreo, but none of that is used for simulation, we use simple fakes in java-land. turning the frame rate down from 60fps to 30fps...
that way, we can use the robot rotation measurement corresponding to the time of the vision input. the specific calculation that depends on the gyro is finding the tag rotation...
yeah, that's how i started, but then i realized i was just making a little mirror of the pose buffer, filled with data obtained from the pose estimator itself.
oh, wow, thanks for the catch on the gyroAngle. i'm confused about the gyro measurement vs the pose estimator rotation measurement. the pose estimator maintains an offset, so these aren't...
oh, wait, now i'm even more confused. record.poseMeters.getRotation() and record.gyroAngle are different for exactly the same reason.
I get it, except for the part where you said "your gyro measurements." that's not what I need, I need the rotational component of the pose. isn't that exactly the...
> Maybe you're talking about the offset in the odometry object that's set when calling `resetPosition()`? (See [Odometry.java#L62](https://github.com/wpilibsuite/allwpilib/blob/main/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java#L62) or [Odometry.h#L57](https://github.com/wpilibsuite/allwpilib/blob/main/wpimath/src/main/native/include/frc/kinematics/Odometry.h#L57)) Yes, that's what I was thinking of.
oh, yeah, that would be great.
ok, i'll figure it out. the curious thing is that it seems like nobody expected this particular thing to break. you: "Do any vendor libraries use the removed functionality?" Thad:...
:) anything in particular come to mind in terms of broken things?