Adding staleness check for whether there is a target to use. #350
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stephenjust
reviewed
Apr 2, 2025
| Optional<AprilTagVisionIO.TargetObservation> targetObservation = aprilTagVisionSubsystem | ||
| .getTargetObservation(targetCameraID, targetAprilTagID); | ||
| boolean doWeSeeOurTargetTag = targetObservation.isPresent() | ||
| && targetObservation.get().ambiguity() < maxTagAmbiguity.get() && !targetObservation.get().stale(); |
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This looks like the only change.
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@rokadias could you disable your formatter when editing this repo?
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Also, perhaps:
boolean doWeSeeOurTargetTag = targetObservation
.map(obs -> obs.ambiguity() < maxTagAmbiguity.get() && !obs.stale())
.orElse(false);
JohnGilb
approved these changes
Apr 2, 2025
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Only real change here is to use stale in
doWeSeeOurTargetTag:Relies on: Team488/SeriouslyCommonLib#594
Why are we doing this?
To make sure we are still seeing the tag before moving into ApproachWhileCentering.
Asana task URL:
Whats changing?
Questions/notes for reviewers
How this was tested
Video/screenshots (from simulator or live robot)
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