ADJUSTMENT - Vision Pose Speed Limits

[Aztechs157-Git]

Description:

Vision pose stops updating when the robot exceeds a certain speed threshold, to prevent excess noise. There are times when the robot is seeing a tag at higher speeds, but is not updating its pose, thus reducing data resolution. Will require rigorous (and likely on-field) testing.

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When?

• Periodic
• Init
• Command

Impacted Modes:

• Disabled
• Teleop
• Auto
• Simulation

Impacted Subsystems:

• Drive
• Vision
• Autonomous
• Logging
• Mechanism - which one(s)?

Files of Focus:

• VisionSystem.java
• RobotContainer.java

Resources:

• https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html

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Screenshots/GIFs/Videos: