fix merge issue

Team766 · Apr 5, 2024 · 572055d · 572055d
1 parent f239657
commit 572055d
Showing 1 changed file with 3 additions and 18 deletions.
diff --git a/src/main/java/com/team766/robot/reva/mechanisms/ForwardApriltagCamera.java b/src/main/java/com/team766/robot/reva/mechanisms/ForwardApriltagCamera.java
@@ -6,6 +6,7 @@
 import com.team766.logging.LoggerExceptionUtils;
 import com.team766.logging.ShuffleboardUtil;
 import com.team766.robot.reva.Robot;
+import com.team766.robot.reva.constants.VisionConstants;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
@@ -38,31 +39,15 @@ public GrayScaleCamera getCamera() {
     }
 
     public void run() {
-        if (tagId == -1) {
-            Optional<Alliance> alliance = DriverStation.getAlliance();
-
-            if (alliance.isPresent()) {
-                if (alliance.get().equals(Alliance.Blue)) {
-                    tagId = 7;
-                } else {
-                    tagId = 4;
-                }
-                Robot.lights.signalCameraConnected();
-            } else {
-                LoggerExceptionUtils.logException(
-                        new AprilTagGeneralCheckedException("Couldn't find alliance correctly"));
-            }
-        }
-
         try {
             if (tagId == -1) {
                 Optional<Alliance> alliance = DriverStation.getAlliance();
 
                 if (alliance.isPresent()) {
                     if (alliance.get().equals(Alliance.Blue)) {
-                        tagId = 7;
+                        tagId = VisionConstants.MAIN_BLUE_SPEAKER_TAG;
                     } else {
-                        tagId = 4;
+                        tagId = VisionConstants.MAIN_RED_SPEAKER_TAG;
                     }
                     Robot.lights.signalCameraConnected();
                 } else {