From 7e828e6d4b371fa6b283e805ea29389be51f04f1 Mon Sep 17 00:00:00 2001
From: Mihir Patankar <mpatankar06@gmail.com>
Date: Fri, 12 Apr 2024 00:39:10 -0400
Subject: [PATCH] fix limelight fps input

---
 src/main/java/frc/robot/vision/GamePieceDetection.java        | 4 ++--
 .../java/frc/robot/vision/GamePieceDetectionIOLimelight.java  | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/vision/GamePieceDetection.java b/src/main/java/frc/robot/vision/GamePieceDetection.java
index 9a8a446..f6eb922 100644
--- a/src/main/java/frc/robot/vision/GamePieceDetection.java
+++ b/src/main/java/frc/robot/vision/GamePieceDetection.java
@@ -6,7 +6,7 @@
 import org.littletonrobotics.junction.Logger;
 
 public class GamePieceDetection {
-  private final double kMinimumTargetAreaPercent = 1.7;
+  private final double kMinimumTargetAreaPercent = 0.8;
   private final GamePieceDetectionIO m_io;
   private final GamePieceDetectionIOInputsAutoLogged m_inputs =
       new GamePieceDetectionIOInputsAutoLogged();
@@ -20,7 +20,7 @@ public class GamePieceDetection {
   public final DoubleSupplier horizontalErrorDeg =
       () ->
           m_inputs.targetHorizontalOffsetDegrees
-              * (Constants.onRedAllianceSupplier.getAsBoolean() ? -1 : 1);
+              * (Constants.onRedAllianceSupplier.getAsBoolean() ? 1 : -1);
 
   public GamePieceDetection(GamePieceDetectionIO io) {
     m_io = io;
diff --git a/src/main/java/frc/robot/vision/GamePieceDetectionIOLimelight.java b/src/main/java/frc/robot/vision/GamePieceDetectionIOLimelight.java
index 2dd1d90..04251d2 100644
--- a/src/main/java/frc/robot/vision/GamePieceDetectionIOLimelight.java
+++ b/src/main/java/frc/robot/vision/GamePieceDetectionIOLimelight.java
@@ -22,7 +22,7 @@ public void updateInputs(GamePieceDetectionIOInputs inputs) {
     inputs.targetArea = m_limelightTable.getEntry("ta").getDouble(0.0);
     inputs.targetHorizontalOffsetDegrees = m_limelightTable.getEntry("tx").getDouble(0.0);
     inputs.targetVerticalOffsetDegrees = m_limelightTable.getEntry("ty").getDouble(0.0);
-    inputs.fps = (int) m_limelightTable.getEntry("hw").getDoubleArray(new double[] {0.0})[0];
+    inputs.fps = (int) m_limelightTable.getEntry("hw").getDoubleArray(new double[] {0.0})[3];
 
     double currentHeartbeatValue = m_limelightTable.getEntry("hb").getDouble(0.0);
     if (m_lastHeartbeatValue != currentHeartbeatValue) {