From 19e9addfd2c29a5a3d8d6dd56cd5838e67c98494 Mon Sep 17 00:00:00 2001 From: iefomit Date: Sun, 29 Mar 2026 19:30:22 -0700 Subject: [PATCH] vendor dep, unused --- .../robot/util/Vision/GyroBiasEstimator.java | 15 ----- .../java/frc/robot/util/Vision/Vision.java | 22 ------- vendordeps/Phoenix6-frc2026-latest.json | 60 +++++++++---------- 3 files changed, 30 insertions(+), 67 deletions(-) diff --git a/src/main/java/frc/robot/util/Vision/GyroBiasEstimator.java b/src/main/java/frc/robot/util/Vision/GyroBiasEstimator.java index 99849a5..bcd263b 100644 --- a/src/main/java/frc/robot/util/Vision/GyroBiasEstimator.java +++ b/src/main/java/frc/robot/util/Vision/GyroBiasEstimator.java @@ -136,21 +136,6 @@ public class GyroBiasEstimator { return clampedBias * GyroBiasConstants.CORRECTION_FRACTION; } - /** - * check if correction should be applied. - * - * @param gyroYaw current gyro reading - * @param visionYaw vision-derived yaw - * @return true if we should call setYaw(), false otherwise - */ - public boolean shouldCorrect(double gyroYaw, double visionYaw) { - if (addObservation(visionYaw, gyroYaw)) { - double bias = getAndResetBias(); - return Math.abs(bias) > GyroBiasConstants.MIN_CORRECTION_RAD; - } - return false; - } - /** * normalize angle to [-PI, PI] */ diff --git a/src/main/java/frc/robot/util/Vision/Vision.java b/src/main/java/frc/robot/util/Vision/Vision.java index eb70f25..d92b3de 100644 --- a/src/main/java/frc/robot/util/Vision/Vision.java +++ b/src/main/java/frc/robot/util/Vision/Vision.java @@ -382,24 +382,6 @@ public class Vision { return sawTag; } - /** - * returns visible tag IDs from all cameras. - */ - public int[] getVisibleTagIds() { - ArrayList tagIds = new ArrayList<>(); - for(VisionCamera c : cameras) { - for(PhotonPipelineResult result : c.getResults()) { - for(PhotonTrackedTarget target : result.getTargets()) { - int id = target.getFiducialId(); - if(id > 0 && !tagIds.contains(id)) { - tagIds.add(id); - } - } - } - } - return tagIds.stream().mapToInt(Integer::intValue).toArray(); - } - /** * Enable or disable a single camera * @param index The camera index @@ -716,9 +698,5 @@ public class Vision { public void enable(boolean enable){ enabled = enable; } - - public List getResults() { - return inputs.results; - } } } diff --git a/vendordeps/Phoenix6-frc2026-latest.json b/vendordeps/Phoenix6-frc2026-latest.json index 97ea239..17aa5f0 100644 --- a/vendordeps/Phoenix6-frc2026-latest.json +++ b/vendordeps/Phoenix6-frc2026-latest.json @@ -1,7 +1,7 @@ { "fileName": "Phoenix6-frc2026-latest.json", "name": "CTRE-Phoenix (v6)", - "version": "26.1.2", + "version": "26.1.3", "frcYear": "2026", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.1.2" + "version": "26.1.3" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.2", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.2", + "version": "26.1.3", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, -- 2.39.5