Fix merge conflictsr

PhotonVision · Oct 8, 2023 · 2aa95e3 · 2aa95e3
1 parent 2823171
commit 2aa95e3
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Showing 2 changed files with 10 additions and 3 deletions.
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -68,10 +68,16 @@ public enum PoseStrategy {
         /** Return the average of the best target poses using ambiguity as weight. */
         AVERAGE_BEST_TARGETS,
 
-        /** Use all visible tags to compute a single pose estimate.. */
+        /**
+         * Use all visible tags to compute a single pose estimate on coprocessor. This option needs to
+         * be enabled on the PhotonVision web UI as well.
+         */
         MULTI_TAG_PNP_ON_COPROCESSOR,
 
-        /** Use all visible tags to compute a single pose estimate.. */
+        /**
+         * Use all visible tags to compute a single pose estimate. This runs on the RoboRIO, and can
+         * take a lot of time.
+         */
         MULTI_TAG_PNP_ON_RIO
     }
 

diff --git a/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Vision.java b/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Vision.java
@@ -56,7 +56,8 @@ public Vision() {
         camera = new PhotonCamera(kCameraName);
 
         photonEstimator =
-                new PhotonPoseEstimator(kTagLayout, PoseStrategy.MULTI_TAG_PNP, camera, kRobotToCam);
+                new PhotonPoseEstimator(
+                        kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, camera, kRobotToCam);
         photonEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);
 
         // ----- Simulation