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StuyPulse · Jan 24, 2024 · 48a29ff · 48a29ff
1 parent fc81252
commit 48a29ff
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Showing 3 changed files with 17 additions and 5 deletions.
diff --git a/src/main/java/com/stuypulse/robot/constants/Field.java b/src/main/java/com/stuypulse/robot/constants/Field.java
@@ -39,13 +39,20 @@ public interface Field {
     };
 
     public static boolean isValidFiducial(int fid) {
-        for(Fiducial fiducial : FIDUCIALS) if (fiducial.getFID() == fid) return true;
+        for(Fiducial fiducial : FIDUCIALS) {
+            if (fiducial.getFID() == fid) 
+                return true;
+        }
         return false;
     }
 
     public static Fiducial[] getFiducialLayout(int... fids) {
         ArrayList<Fiducial> fiducials = new ArrayList<Fiducial>();
-        for (int fid : fids) for (Fiducial fiducial : FIDUCIALS) if (fiducial.getFID() == fid) fiducials.add(fiducial);
+        for (int fid : fids) {
+            for (Fiducial fiducial : FIDUCIALS) 
+                if (fiducial.getFID() == fid) fiducials.add(fiducial);
+        }
+
         Fiducial[] fiducials_array = new Fiducial[fiducials.size()];
         return fiducials.toArray(fiducials_array);
     }
@@ -65,7 +72,10 @@ public static double[] getLayoutAsDoubleArray(Fiducial[] fiducials) {
     }
 
     public static Fiducial getFiducial(int fid) {
-        for (Fiducial fiducial : FIDUCIALS) if (fiducial.getFID() == fid) return fiducial;
+        for (Fiducial fiducial : FIDUCIALS) {
+            if (fiducial.getFID() == fid) 
+                return fiducial;
+        }
         return null;
     }
 }
diff --git a/src/main/java/com/stuypulse/robot/subsystems/vision/AprilTagVision.java b/src/main/java/com/stuypulse/robot/subsystems/vision/AprilTagVision.java
@@ -27,6 +27,7 @@ public static AprilTagVision getInstance() {
 
     protected AprilTagVision() {
         this.cameras = new AprilTagCamera[Cameras.APRILTAG_CAMERAS.length];
+
         for (int i = 0; i < Cameras.APRILTAG_CAMERAS.length; i++) {
             cameras[i] = new AprilTagCamera(Cameras.APRILTAG_CAMERAS[i]);
         }
@@ -47,8 +48,9 @@ public ArrayList<VisionData> getOutputs() {
      * @param fids the fiducial IDs
      */
     public void setFiducialLayout(int... fids) {
-        for (AprilTagCamera camera : cameras)
+        for (AprilTagCamera camera : cameras) {
             camera.setFiducialLayout(fids);
+        }
     }
 
     @Override

diff --git a/src/main/java/com/stuypulse/robot/util/AprilTagCamera.java b/src/main/java/com/stuypulse/robot/util/AprilTagCamera.java
@@ -149,7 +149,7 @@ public Optional<VisionData> getVisionData() {
         double fpgaTime = latencySub.getLastChange() / 1_000_000.0;
         double timestamp = fpgaTime - Units.millisecondsToSeconds(rawLatency);
 
-        if (rawCounter - lastCounter != 1) return Optional.empty();
+        if (rawCounter - lastCounter <= 1) return Optional.empty();
         lastCounter = rawCounter;
         return Optional.of(new VisionData(getRobotPose(), getFIDs(), timestamp));
     }