Change target remove distance

frc868 · Apr 8, 2023 · ecd572d · ecd572d
1 parent c5f82cc
commit ecd572d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java b/src/main/java/com/techhounds/houndutil/houndlib/AprilTagPhotonCamera.java
@@ -56,7 +56,7 @@ public Optional<EstimatedRobotPose> getEstimatedGlobalPose(
         PhotonPipelineResult result = photonCamera.getLatestResult();
         result.targets.removeIf((target) -> target.getPoseAmbiguity() > 0.2);
         result.targets.removeIf((target) -> target.getFiducialId() > 8);
-        result.targets.removeIf((target) -> target.getBestCameraToTarget().getTranslation().getNorm() > 2);
+        result.targets.removeIf((target) -> target.getBestCameraToTarget().getTranslation().getNorm() > 4);
 
         photonPoseEstimator.setReferencePose(prevEstimatedRobotPose);
         Optional<EstimatedRobotPose> estimatedRobotPose = photonPoseEstimator.update(result);