From: Arnav495 <arnieincyberland@gmail.com>
Date: Thu, 4 Sep 2025 19:57:03 +0000 (-0700)
Subject: Check a pipeline result has targets before using it.
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=0fea178ba31352a929f397567e96459b5f1f3438;p=FRC2026.git

Check a pipeline result has targets before using it.

The null check works fine, but produces warnings.
---

diff --git a/src/main/java/frc/robot/util/Vision/Vision.java b/src/main/java/frc/robot/util/Vision/Vision.java
index 9af6c4f..0501edb 100644
--- a/src/main/java/frc/robot/util/Vision/Vision.java
+++ b/src/main/java/frc/robot/util/Vision/Vision.java
@@ -600,9 +600,12 @@ public class Vision {
       // The latest camera results
       for(PhotonPipelineResult result : inputs.results){
         // TODO: This could be improved by averaging all targets instead of only using 1
+
+        // Continue if the target doesn't exist or it should be ignored
+        if (!result.hasTargets()) continue;
         // Gets the best target to use for the calculations
         PhotonTrackedTarget target = result.getBestTarget();
-        // Continue if the target doesn't exist or it should be ignored
+        // I don't know why this would happen, but keep it in just in case
         if(target==null){
           continue;
         }