Merge pull request #340 from wackyvert/vision-fix

thenetworkgrinch · web-flow · commit a270f0b6d892 · 2025-03-18T23:28:51.000-05:00
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/Vision.java b/src/main/java/frc/robot/subsystems/swervedrive/Vision.java
@@ -530,9 +530,7 @@ private void updateUnreadResults()
       {
         mostRecentTimestamp = Math.max(mostRecentTimestamp, result.getTimestampSeconds());
       }
-      if ((resultsList.isEmpty() || (currentTimestamp - mostRecentTimestamp >= debounceTime)) &&
-          (currentTimestamp - lastReadTimestamp) >= debounceTime)
-      {
+
         resultsList = Robot.isReal() ? camera.getAllUnreadResults() : cameraSim.getCamera().getAllUnreadResults();
         lastReadTimestamp = currentTimestamp;
         resultsList.sort((PhotonPipelineResult a, PhotonPipelineResult b) -> {
@@ -542,7 +540,7 @@ private void updateUnreadResults()
         {
           updateEstimatedGlobalPose();
         }
-      }
+
     }
 
     /**

Original file line number	Diff line number	Diff line change
`@@ -530,9 +530,7 @@ private void updateUnreadResults()`
`530`	`530`	`{`
`531`	`531`	`mostRecentTimestamp = Math.max(mostRecentTimestamp, result.getTimestampSeconds());`
`532`	`532`	`}`
`533`		`- if ((resultsList.isEmpty() \|\| (currentTimestamp - mostRecentTimestamp >= debounceTime)) &&`
`534`		`- (currentTimestamp - lastReadTimestamp) >= debounceTime)`
`535`		`- {`
	`533`	`+`
`536`	`534`	`resultsList = Robot.isReal() ? camera.getAllUnreadResults() : cameraSim.getCamera().getAllUnreadResults();`
`537`	`535`	`lastReadTimestamp = currentTimestamp;`
`538`	`536`	`resultsList.sort((PhotonPipelineResult a, PhotonPipelineResult b) -> {`
`@@ -542,7 +540,7 @@ private void updateUnreadResults()`
`542`	`540`	`{`
`543`	`541`	`updateEstimatedGlobalPose();`
`544`	`542`	`}`
`545`		`- }`
	`543`	`+`
`546`	`544`	`}`
`547`	`545`
`548`	`546`	`/**`