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Team2470 · Jan 15, 2024 · 000ac1d · 000ac1d
1 parent 833a1dc
commit 000ac1d
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -77,6 +77,7 @@ public Drivetrain(VisionSubsystem vision) {
 
     Mk4ModuleConfiguration moduleConfig = Mk4ModuleConfiguration.getDefaultSteerNEO();
     moduleConfig.setNominalVoltage(Constants.DriveConstants.kDriveVoltageCompensation);
+    moduleConfig.setDriveCurrentLimit(40);
 
     // : Swerve setup
     this.m_swerve_modules[0] =
@@ -101,7 +102,7 @@ public Drivetrain(VisionSubsystem vision) {
             },
             new Pose2d(),
             VecBuilder.fill(0.1, 0.1, 0.1),
-            VecBuilder.fill(0.5, 0.5, 0.5));
+            VecBuilder.fill(1.5, 1.5, 1.5)); // 7028 uses 1.5
 
     var odometryTab =
         tab.getLayout("Odometry", BuiltInLayouts.kList).withSize(2, 2).withPosition(10, 0);

diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java
@@ -60,7 +60,7 @@ public void periodic() {
       // when to accept updates
       if (true) {
         SmartDashboard.putBoolean("Vision accepting updates", true);
-        if (inputs[i].hasTarget && inputs[i].isNew && inputs[i].maxDistance < LOWEST_DISTANCE) {
+        if (inputs[i].hasTarget && inputs[i].isNew && inputs[i].maxDistance < LOWEST_DISTANCE && inputs[i].maxAmbiguity < 0.4) {
           if (useSingleTag) {
             if (inputs[i].singleIDUsed == acceptableTagID) {
               processVision(i);