Tag rejection#66
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write2shaunak-bot
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00magikarp and
SirBeans
SirBeans
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Feb 27, 2026
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glooks here son js one or two nitpiks
00magikarp
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Feb 27, 2026
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00magikarp
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Mar 12, 2026
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yo what dis new auto spotless formatting |
00magikarp
requested changes
Mar 13, 2026
| if (zMeters < 0.0) return false | ||
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| val minBound = -fieldBoundaryToleranceMeters | ||
| val maxX = FieldConstants.fieldLength.inMeters + fieldBoundaryToleranceMeters |
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there should be no tolerance. really there should be negative tolerance bc u can never have the center of ur robot on the edge of the field, but just 0 tolerance is satisfactory
| if (!insideFieldBounds) return false | ||
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| val linearSpeed = | ||
| kotlin.math.hypot(chassisSpeeds.vx.inMetersPerSecond, chassisSpeeds.vy.inMetersPerSecond) |
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there's a hypot function in our units library btw
| angularSpeed <= maxAngularSpeedForAcceptanceRadPerSec | ||
| } | ||
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| fun calculateTagTrustScore( |
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get rid of this function tbh (explained irl)
| return weightedTrust.coerceIn(0.0, 1.0) | ||
| } | ||
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| fun calculateTagTrust( |
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| updateEstimationStdDevs(visionEst, result.getTargets()) | ||
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| poseMeasurementConsumer(poseEst, visionEst.get().timestampSeconds, curStdDevs) |
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u should still be calling this, just add a check before doing it. in fact wrap everything from the inputs.frame update with the check for trust
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