From 552d0b5a563b6cacc44f85d5a3c94132f33b4721 Mon Sep 17 00:00:00 2001
From: michael-lesirge <100492377+michael-lesirge@users.noreply.github.com>
Date: Sun, 15 Sep 2024 22:06:17 -0700
Subject: [PATCH] minor vision cleanups

---
 src/main/java/frc/robot/subsystems/vision/AprilTagVision.java | 2 +-
 src/main/java/frc/robot/subsystems/vision/Camera.java         | 4 ++--
 .../java/frc/robot/subsystems/vision/VisionConstants.java     | 3 +--
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/vision/AprilTagVision.java b/src/main/java/frc/robot/subsystems/vision/AprilTagVision.java
index 348c61d..474ee06 100644
--- a/src/main/java/frc/robot/subsystems/vision/AprilTagVision.java
+++ b/src/main/java/frc/robot/subsystems/vision/AprilTagVision.java
@@ -83,7 +83,7 @@ public void addVisionEstimateConsumer(
     timestampRobotPoseEstimateConsumers.add(timestampRobotPoseEstimateConsumer);
   }
 
-  public Stream<Camera> cameras() {
+  private Stream<Camera> cameras() {
     return Arrays.stream(cameras);
   }
 
diff --git a/src/main/java/frc/robot/subsystems/vision/Camera.java b/src/main/java/frc/robot/subsystems/vision/Camera.java
index 96b76b7..c687b61 100644
--- a/src/main/java/frc/robot/subsystems/vision/Camera.java
+++ b/src/main/java/frc/robot/subsystems/vision/Camera.java
@@ -25,10 +25,10 @@ public class Camera {
   private static final LoggedTunableNumberGroup group =
       new LoggedTunableNumberGroup("VisionResultsStatus");
 
-  private static final LoggedTunableNumber thetaStdDevCoefficient =
-      group.build("thetaStdDevCoefficient", 0.075);
   private static final LoggedTunableNumber xyStdDevCoefficient =
       group.build("xyStdDevCoefficient", 0.075);
+  private static final LoggedTunableNumber thetaStdDevCoefficient =
+      group.build("thetaStdDevCoefficient", 0.085);
 
   private static final LoggedTunableNumber zHeightToleranceMeters =
       group.build("zHeightToleranceMeters", 0.5);
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
index 8cd6db9..5634b1d 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
@@ -9,10 +9,9 @@ public class VisionConstants {
 
   public record CameraConfig(String cameraName, Transform3d robotToCamera) {}
 
-  // TODO find actual values here, as well as in Asset config
   public static final CameraConfig FRONT_CAMERA =
       new CameraConfig(
           "frontCam",
           new Transform3d(
-              new Translation3d(0.805, 0, 0.0762), new Rotation3d(0, 0, Math.toRadians(30))));
+              new Translation3d(0.805, 0, 0), new Rotation3d(0, Math.toRadians(-30), 0)));
 }