use no offset and fix imports & update questnav

Author: blaze-developer

src/main/java/frc/robot/RobotContainer.java

@@ -67,7 +67,6 @@
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.GyroIO;
 import frc.robot.subsystems.drive.GyroIOPigeon2;
-import frc.robot.subsystems.drive.GyroIOQuest;
 import frc.robot.subsystems.drive.ModuleIOReplay;
 import frc.robot.subsystems.drive.ModuleIOSim;
 import frc.robot.subsystems.drive.ModuleIOTalonFX;

src/main/java/frc/robot/subsystems/vision/MotionTrackerVision.java

@@ -3,14 +3,23 @@
 
 import org.littletonrobotics.junction.Logger;
 
+import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class MotionTrackerVision extends SubsystemBase {
 
+    private static final Matrix<N3, N1> stdDevs = VecBuilder.fill(
+        0.01,
+        0.01,
+        0.01
+    );
+
     private final TrackerIO io_;
     private final TrackerInputsAutoLogged inputs_;
 
@@ -34,7 +43,7 @@ public void periodic() {
 
         if (disconnected || !inputs_.isTracking) return;
 
-        estimateConsumer_.integrate(inputs_.pose, inputs_.timestamp, VecBuilder.fill(0.01, 0.01, 0.01));
+        estimateConsumer_.integrate(inputs_.pose, inputs_.timestamp, stdDevs);
     }
 
     public void setPose(Pose2d pose) {

src/main/java/frc/robot/subsystems/vision/TrackerIOQuest.java

@@ -10,8 +10,10 @@
 public class TrackerIOQuest implements TrackerIO {
 
     private static final Transform2d robotToQuest = new Transform2d(
-        Inches.of(12),
-        Inches.of(9.25),
+        // Inches.of(12),
+        // Inches.of(9.25),
+        Inches.zero(),
+        Inches.zero(),
         Rotation2d.kZero
     );
 

vendordeps/questnavlib.json

@@ -1,19 +1,19 @@
 {
     "fileName": "questnavlib.json",
     "name": "questnavlib",
-    "version": "2025-1.0.0-beta",
+    "version": "2025-1.0.1-beta",
     "uuid": "a706fe68-86e5-4aed-92c5-ce05aca007f0",
     "frcYear": "2025",
     "mavenUrls": [
         "https://maven.questnav.gg/releases",
         "https://maven.questnav.gg/snapshots"
     ],
-    "jsonUrl": "https://maven.questnav.gg/releases/gg/questnav/questnavlib-json/2025-1.0.0-beta/questnavlib-json-2025-1.0.0-beta.json",
+    "jsonUrl": "https://maven.questnav.gg/releases/gg/questnav/questnavlib-json/2025-1.0.1-beta/questnavlib-json-2025-1.0.1-beta.json",
     "javaDependencies": [
         {
             "groupId": "gg.questnav",
             "artifactId": "questnavlib-java",
-            "version": "2025-1.0.0-beta"
+            "version": "2025-1.0.1-beta"
         }
     ],
     "cppDependencies": [],