From 36b56ec5110274f00131723c375d1ebc0e44d98e Mon Sep 17 00:00:00 2001
From: iefomit <timofei.stem@gmail.com>
Date: Fri, 10 Apr 2026 23:19:51 -0700
Subject: [PATCH] fix slip check

should use modulePose.slipped() not tag visibility
---
 .../java/frc/robot/subsystems/drivetrain/Drivetrain.java     | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 4804c89..5b1de6d 100644
--- 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();
 
-- 
2.39.5