finish vision tuning

Author: MichaelLesirge

src/main/java/frc/robot/subsystems/dashboard/DriverDashboard.java

@@ -95,8 +95,17 @@ public void periodic() {
       SmartDashboard.putNumber("Heading Degrees", -pose.getRotation().getDegrees());
       field.setRobotPose(pose);
 
-      // SmartDashboard.putNumber("[test] DISTANCE TO REEF", pose.plus(new
-      // Transform2d(DRIVE_CONFIG.bumperCornerToCorner().getX(), 0, Rotation2d.kZero)).getX() - );
+      // SmartDashboard.putNumber(
+      // "Distance To Reef [Tag 8] [Test]",
+      // Units.metersToInches(
+      //     Math.abs(
+      //             AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeAndyMark)
+      //                 .getTagPose(18)
+      //                 .get()
+      //                 .toPose2d()
+      //                 .minus(pose)
+      //                 .getX())
+      //         - DRIVE_CONFIG.bumperCornerToCorner().getX() / 2.0));
     }
 
     if (autoAlginPoseSupplier != null) {

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

@@ -46,7 +46,7 @@ public record CameraConfig(String cameraName, String cameraPosition, Transform3d
                   0, -Units.inchesToMeters(27.5 / 2.0 + 1.0), Units.inchesToMeters(3)),
               new Rotation3d(0, Units.degreesToRadians(0), Units.degreesToRadians(-90))));
 
-  private static final double CAMERA_OFFSET_X = Units.inchesToMeters(9.922);
+  private static final double CAMERA_OFFSET_X = Units.inchesToMeters(9.922 + 0.6);
   private static final double CAMERA_OFFSET_Y = Units.inchesToMeters(9.906);
 
   private static final double FRONT_CAMERA_YAW = Units.degreesToRadians(45); // 45 degrees outward
@@ -86,5 +86,5 @@ public record CameraConfig(String cameraName, String cameraPosition, Transform3d
           "back right",
           new Transform3d(
               new Translation3d(-CAMERA_OFFSET_X, -CAMERA_OFFSET_Y, BACK_CAMERA_OFFSET_Z),
-              new Rotation3d(0, -Units.degreesToRadians(20), Units.degreesToRadians(180 - 17.37))));
+              new Rotation3d(0, -Units.degreesToRadians(20), Units.degreesToRadians(180 - 14.8))));
 }