fix slip check

should use modulePose.slipped() not tag visibility

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 4804c89c82800f16e7a580004cbc7040161c6ebc..5b1de6d65a6a0e2e3237a53e033f9893f2295065 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@ -324,10 +324,7 @@ public class Drivetrain extends SubsystemBase {
             if (vision != null && visionEnabled && visionEnableTimer.hasElapsed(5)) {
                 vision.updateOdometry(poseEstimator, time -> getPoseAt(time).getRotation().getRadians(), slipped);
 
-                // skip vision if no tags
-                if (!vision.canSeeTag()) {
-                    slipped = true;
-                } else {
+                if (vision.canSeeTag()) {
                     slipped = false;
                     modulePoses.reset();