camera positions

diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java
index 39cf88aa311dbc90d85e3a820bfee19808b5fc66..ef784cca385bf5c8ee2beba52f654443ca080ee8 100644 (file)
--- a/src/main/java/frc/robot/constants/VisionConstants.java
+++ b/src/main/java/frc/robot/constants/VisionConstants.java
@@ -155,31 +155,35 @@ public class VisionConstants {
                 new Pair<String, Transform3d>(
                         "CameraFrontLeft",
                         new Transform3d(
-                                new Translation3d(Units.inchesToMeters(10.485), Units.inchesToMeters(10.217),
-                                        Units.inchesToMeters(11.012)),
-                                new Rotation3d(0, Units.degreesToRadians(-11),
-                                        Math.PI/2 + Units.degreesToRadians(20)))),
+                                new Translation3d(Units.inchesToMeters(10.965663), 
+                                        Units.inchesToMeters(-8.602606),
+                                        Units.inchesToMeters(19.337757)),
+                                new Rotation3d(0, Units.degreesToRadians(-22.0),
+                                        Units.degreesToRadians(55.0)))),
                 new Pair<String, Transform3d>(
                         "CameraFrontRight",
                         new Transform3d(
-                                new Translation3d(Units.inchesToMeters(-9.538), Units.inchesToMeters(7.474),
-                                        Units.inchesToMeters(8.719)),
-                                new Rotation3d(0, Units.degreesToRadians(-19.5),
-                                        Math.PI/2-Units.degreesToRadians(25)))),
+                                new Translation3d(Units.inchesToMeters(-10.965663), 
+                                        Units.inchesToMeters(-8.602606),
+                                        Units.inchesToMeters(19.337757)),
+                                new Rotation3d(0, Units.degreesToRadians(-22.0),
+                                        Units.degreesToRadians(-55.0)))),
                 new Pair<String, Transform3d>(
                         "CameraBackLeft",
                         new Transform3d(
-                                new Translation3d(Units.inchesToMeters(-9.538), Units.inchesToMeters(7.474),
-                                        Units.inchesToMeters(8.719)),
-                                new Rotation3d(0, Units.degreesToRadians(-19.5),
-                                        Math.PI/2-Units.degreesToRadians(25)))),
+                                new Translation3d(Units.inchesToMeters(10.518135), 
+                                        Units.inchesToMeters(-11.140663),
+                                        Units.inchesToMeters(19.337757)),
+                                new Rotation3d(0, Units.degreesToRadians(-22.0),
+                                        Units.degreesToRadians(145.0)))),
                 new Pair<String, Transform3d>(
                         "CameraBackRight",
                         new Transform3d(
-                                new Translation3d(Units.inchesToMeters(-9.538), Units.inchesToMeters(7.474),
-                                        Units.inchesToMeters(8.719)),
-                                new Rotation3d(0, Units.degreesToRadians(-19.5),
-                                        Math.PI/2-Units.degreesToRadians(25))))
+                                new Translation3d(Units.inchesToMeters(-10.518135), 
+                                        Units.inchesToMeters(-11.140663),
+                                        Units.inchesToMeters(19.337757)),
+                                new Rotation3d(0, Units.degreesToRadians(-22.0),
+                                        Units.degreesToRadians(-145.0))))
                 ));
 
         /**