include megatag2 raw pose2d estimation

frc461 · Apr 4, 2024 · 052d732 · 052d732
1 parent 8d6c178
commit 052d732
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/src/main/java/frc/lib/util/LimelightHelpers.java b/src/main/java/frc/lib/util/LimelightHelpers.java
@@ -663,6 +663,10 @@ public static double[] getBotPose_wpiBlue(String limelightName) {
         return getLimelightNTDoubleArray(limelightName, "botpose_wpiblue");
     }
 
+    public static double[] getBotPose_orb_wpiBlue(String limelightName) {
+        return getLimelightNTDoubleArray(limelightName, "botpose_orb_wpiblue");
+    }
+
     public static double[] getBotPose_TargetSpace(String limelightName) {
         return getLimelightNTDoubleArray(limelightName, "botpose_targetspace");
     }
@@ -758,6 +762,12 @@ public static PoseEstimate getBotPoseEstimate_wpiBlue(String limelightName) {
         return getBotPoseEstimate(limelightName, "botpose_wpiblue");
     }
 
+    public static Pose2d getBotPose2d_orb_wpiBlue(String limelightName) {
+
+        double[] result = getBotPose_orb_wpiBlue(limelightName);
+        return toPose2D(result);
+    }
+
     /**
      * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the BLUE
      * alliance