Fix Limelight array indices (#134)

Mechanical-Advantage · Dec 19, 2024 · d421ab8 · d421ab8
1 parent bac2037
commit d421ab8
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/template_projects/vision/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java b/template_projects/vision/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
@@ -84,19 +84,19 @@ public void updateInputs(VisionIOInputs inputs) {
       poseObservations.add(
           new PoseObservation(
               // Timestamp, based on server timestamp of publish and latency
-              rawSample.timestamp * 1.0e-6 - rawSample.value[7] * 1.0e-3,
+              rawSample.timestamp * 1.0e-6 - rawSample.value[6] * 1.0e-3,
 
               // 3D pose estimate
               parsePose(rawSample.value),
 
               // Ambiguity, using only the first tag because ambiguity isn't applicable for multitag
-              rawSample.value.length >= 17 ? rawSample.value[16] : 0.0,
+              rawSample.value.length >= 18 ? rawSample.value[17] : 0.0,
 
               // Tag count
-              (int) rawSample.value[8],
+              (int) rawSample.value[7],
 
               // Average tag distance
-              rawSample.value[10],
+              rawSample.value[9],
 
               // Observation type
               PoseObservationType.MEGATAG_1));
@@ -109,7 +109,7 @@ public void updateInputs(VisionIOInputs inputs) {
       poseObservations.add(
           new PoseObservation(
               // Timestamp, based on server timestamp of publish and latency
-              rawSample.timestamp * 1.0e-6 - rawSample.value[7] * 1.0e-3,
+              rawSample.timestamp * 1.0e-6 - rawSample.value[6] * 1.0e-3,
 
               // 3D pose estimate
               parsePose(rawSample.value),
@@ -118,10 +118,10 @@ public void updateInputs(VisionIOInputs inputs) {
               0.0,
 
               // Tag count
-              (int) rawSample.value[8],
+              (int) rawSample.value[7],
 
               // Average tag distance
-              rawSample.value[10],
+              rawSample.value[9],
 
               // Observation type
               PoseObservationType.MEGATAG_2));