Hello,
I am running photonvision on a beelink coprocessor to detect the location of april tags relative to the robot and turn torwards the april tag. I noticed the robot wasn’t reacting to the april tags so I had the code print out the detected position and rotation of the tag, and I discovered that the tag’s position and rotation that was being returned was exactly the same as the robot’s position and rotation. I debugged further and discovered that the .getBestCameraToTarget() was returning Transform3d(Translation3d(X:0.0,0 Y:0.00, Z:0.00), Rotation3d(Quarternion(0.0, -10, 0.0, 0.0))) so it was not properly transforming the robots postion to get the tags position. My full code is here: https://github.com/Team3984v2/Codefor2023FRC3984/blob/main/testingPID2/src/main/java/frc/robot/commands/aimAtTarget.java
Does anyone know why my .getBestCameraToTarget() is doing this?
Thanks!
I think your GitHub repo is private
Ok, it should be fixed now.
Have you calibrated the camera and enabled 3D mode in photonvision?
Yeah, I just realized that it may have been calibrated wrongly. After I manage to find a way to access my coprocessor to change the calibration, I’ll try and see if it works. Thanks!
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