Updated NinjasLib

Ninjas4744 · Ninjas4744 · commit 60811b969de0 · 2024-11-14T19:29:59.000+02:00
diff --git a/build.gradle b/build.gradle
@@ -85,7 +85,7 @@ dependencies {
 	nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
 	simulationRelease wpi.sim.enableRelease()
 
-	implementation 'com.github.Ninjas4744-Organization:NinjasLib:0.3'
+	implementation 'com.github.Ninjas4744-Organization:NinjasLib:0.4'
 
 	testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
 	testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
diff --git a/src/main/java/frc/robot/Constants/VisionConstants.java b/src/main/java/frc/robot/Constants/VisionConstants.java
@@ -53,7 +53,9 @@ public class VisionConstants {
     }
 
     public static double calculateFOM(VisionOutput estimation) {
-        double distFOM = 0.34 * estimation.closestTagDist - 0.124;
+        double C = 0.116;
+
+        double distFOM = (2 * Math.pow(2, estimation.closestTagDist)) / estimation.amountOfTargets * C;
         double speedFOM = 0/*0.2 * RobotState.getInstance().getRobotVelocity().getNorm()*/;
 
         return distFOM + speedFOM;

Original file line number	Diff line number	Diff line change
`@@ -53,7 +53,9 @@ public class VisionConstants {`
`53`	`53`	`}`
`54`	`54`
`55`	`55`	`public static double calculateFOM(VisionOutput estimation) {`
`56`		`- double distFOM = 0.34 * estimation.closestTagDist - 0.124;`
	`56`	`+ double C = 0.116;`
	`57`	`+`
	`58`	`+ double distFOM = (2 * Math.pow(2, estimation.closestTagDist)) / estimation.amountOfTargets * C;`
`57`	`59`	`double speedFOM = 0/0.2 RobotState.getInstance().getRobotVelocity().getNorm()*/;`
`58`	`60`
`59`	`61`	`return distFOM + speedFOM;`